CN107416023B - It parks method and apparatus - Google Patents
It parks method and apparatus Download PDFInfo
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- CN107416023B CN107416023B CN201710661593.XA CN201710661593A CN107416023B CN 107416023 B CN107416023 B CN 107416023B CN 201710661593 A CN201710661593 A CN 201710661593A CN 107416023 B CN107416023 B CN 107416023B
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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
- B62D15/029—Steering assistants using warnings or proposing actions to the driver without influencing the steering system
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Abstract
It parks method and apparatus the disclosure is directed to one kind, belongs to vehicle electronics technical field.The scheme provided through this embodiment, vehicle can prompt the user on how to be operated on the time point of reservation, the position of reservation.User only needs to follow the prompt of vehicle, so that it may complete parking manoeuvres.And during parking manoeuvres, vehicle auxiliary user judges the capable reversing that bends into for turning much angles where, and user is actual operator.In this way, vehicle, which not only assists in user, completes parking manoeuvres, while high request will not be proposed to the hardware of itself.Regardless of vehicle is manual gear or automatic catch, all by user's operation, accordingly even when in hardware configuration not being still to be able to achieve auxiliary to park scheme on very high vehicle yet.
Description
Technical field
The disclosure is directed to vehicle electronics technical field, park method and apparatus especially with respect to one kind.
Background technique
With the development of the city, many drivers are annoying the problem of parking difficulty, more just learn to drive
User.In order to solve this problem, automated parking system comes into being.By automated parking system, driver no longer need into
The complicated shut-down operation of row, so that it may wait vehicle and be moored automatically into target parking position.
However, also being wanted on the other hand to the hardware of vehicle while automated parking system is that driver brings benefit
It asks and improves.Specifically, if it is desired that automated parking system normal operation is got up, it is necessary to vehicle equipped with can become automatically
The gearbox of gear shift position and automatically controlled servo steering device could realize automatic parking in the case where unattended in this way
Function.It is far from being enough that vehicle, which is only equipped with automated parking system,.
To sum up, although automated parking system helps driver to solve the problems, such as parking difficulty, again to the hardware of vehicle
Outfit requires excessively high.It is in the vehicle not equipped with the gearbox and automatically controlled servo steering device of being capable of auto-changing gear
It is difficult to realize automatic parking function by automated parking system.
Summary of the invention
In order to overcome the problems, such as that present in the relevant technologies, present disclose provides following technical schemes:
According to the first aspect of the embodiments of the present disclosure, one kind is provided to park method, which comprises
When detect auxiliary park instruct when, and when detecting that car body is opposite with target carriage bit parallel, pass through lateral ranging
Sensor obtains the lateral distance between car body location mid-shaft and target parking stall location mid-shaft；
According to the corresponding relationship of preset lateral distance and forward distance, before determining corresponding with the lateral distance first
Row distance；
By preset prompting mode prompt user drive to move ahead, when detected by Displacement counter drive it is forward away from
From with described first move ahead be equidistant when, prompt user parking；
According to the corresponding relationship of preset lateral distance and reversing angle, determine that corresponding with the lateral distance first falls
Vehicle angle；
Prompt user by the first reversing angle described in the disc spins of direction by the preset prompting mode, when passing through direction
After disk angular transducer detects the first reversing angle described in the direction disc spins, mentioned by the preset prompting mode
Show that user starts first stage reversing；
According in the corresponding relationship of preset lateral distance and backing distance, corresponding with the lateral distance first is determined
Backing distance；
User's the first backing distance of reversing is prompted by the preset prompting mode, is examined when by the Displacement counter
When measuring the first backing distance of reversing, prompts user to stop by the preset prompting mode and reversely revolve the steering wheel
Turn default reversing angle, prompts user to carry out second stage reversing until control car body is moored completely into the target parking position.
Optionally, the default reversing angle is that the steering wheel is killed to corresponding reversing angle.
Optionally, the preset prompting mode includes:
In such a way that the display being mounted in the car body shows user's operating procedure currently to be carried out；And/or
In such a way that the speaker being mounted in the car body plays the audio of user's operation currently to be carried out.
Optionally, the method also includes:
When detect again auxiliary park instruct when, execute when detecting that car body is opposite with target carriage bit parallel, pass through
Lateral distance measuring sensor obtains the lateral distance between car body location mid-shaft and target parking stall location mid-shaft.
Optionally, preset lateral distance is corresponding by first stage reversing with the corresponding relationship of backing distance
Reversing radius, second stage move backward what corresponding reversing radius determined, wherein the first stage moves backward corresponding reversing radius
For the lateral distance.
According to the second aspect of an embodiment of the present disclosure, a kind of parking apparatus is provided, described device includes:
Obtain module, for when detect auxiliary park instruct when, and when detecting that car body is opposite with target carriage bit parallel,
The lateral distance between car body location mid-shaft and target parking stall location mid-shaft is obtained by lateral distance measuring sensor；
First determining module, for the corresponding relationship according to preset lateral distance and forward distance, the determining and side
To apart from corresponding first forward distance；
First cue module, for prompting user to drive to move ahead by preset prompting mode, when passing through Displacement counter
Detect the distance for driving forward with described first move ahead be equidistant when, prompt user parking；
Second determining module, for the corresponding relationship according to preset lateral distance and reversing angle, the determining and side
To apart from corresponding first reversing angle；
Second cue module, for prompting user to fall described in the disc spins of direction first by the preset prompting mode
Vehicle angle passes through institute after detecting the first reversing angle described in the direction disc spins by steering wheel angle sensor
It states preset prompting mode prompt user and starts first stage reversing；
Third determining module, in the corresponding relationship according to preset lateral distance and backing distance, it is determining with it is described
Corresponding first backing distance of lateral distance；
Third cue module, for prompting user's the first backing distance of reversing by the preset prompting mode, when logical
When crossing the Displacement counter and detecting the first backing distance of reversing, user's parking is prompted simultaneously by the preset prompting mode
The steering wheel is reversely rotated into default reversing angle, prompt user to carry out second stage reversing until control car body moor completely into
The target parking position.
Optionally, the default reversing angle is that the steering wheel is killed to corresponding reversing angle.
Optionally, the preset prompting mode includes:
In such a way that the display being mounted in the car body shows user's operating procedure currently to be carried out；And/or
In such a way that the speaker being mounted in the car body plays the audio of user's operation currently to be carried out.
Optionally, described device further include:
Execution module, for when detect again auxiliary park instruct when, execute when detecting that car body and target parking stall are flat
When row is opposite, the lateral distance between car body location mid-shaft and target parking stall location mid-shaft is obtained by lateral distance measuring sensor.
Optionally, preset lateral distance is corresponding by first stage reversing with the corresponding relationship of backing distance
Reversing radius, second stage move backward what corresponding reversing radius determined, wherein the first stage moves backward corresponding reversing radius
For the lateral distance.
The technical scheme provided by this disclosed embodiment can include the following benefits:
The scheme provided through this embodiment, vehicle can prompt user such as on the time point of reservation, the position of reservation
What is operated.User only needs to follow the prompt of vehicle, so that it may complete parking manoeuvres.And during parking manoeuvres,
Vehicle auxiliary user judges the capable reversing that bends into for turning much angles where, and user is actual operator.In this way, vehicle can not only
It helps user to complete parking manoeuvres, while will not propose high request to the hardware of itself.Regardless of vehicle be manual gear or
Automatic catch, all by user's operation, accordingly even when not being also still to be able to achieve the auxiliary side of parking on very high vehicle in hardware configuration
Case.
It should be understood that above general description and following detailed description be only it is exemplary and explanatory, not
The disclosure can be limited.
Detailed description of the invention
The drawings herein are incorporated into the specification and forms part of this specification, and shows the implementation for meeting the disclosure
Example, and together with specification for explaining the principles of this disclosure.In the accompanying drawings:
Fig. 1 is a kind of flow chart of method of parking shown according to an exemplary embodiment；
Fig. 2 is a kind of reversing route schematic diagram of method of parking shown according to an exemplary embodiment；
Fig. 3 is the schematic diagram of two-wheeled model shown according to an exemplary embodiment；
Fig. 4 is a kind of structural schematic diagram of parking apparatus shown according to an exemplary embodiment；
Fig. 5 is a kind of structural schematic diagram of vehicle shown according to an exemplary embodiment.
Through the above attached drawings, it has been shown that the specific embodiment of the disclosure will be hereinafter described in more detail.These attached drawings
It is not intended to limit the scope of this disclosure concept by any means with verbal description, but is by referring to specific embodiments
Those skilled in the art illustrate the concept of the disclosure.
Specific embodiment
Example embodiments are described in detail here, and the example is illustrated in the accompanying drawings.Following description is related to
When attached drawing, unless otherwise indicated, the same numbers in different drawings indicate the same or similar elements.Following exemplary embodiment
Described in embodiment do not represent all implementations consistent with this disclosure.On the contrary, they be only with it is such as appended
The example of the consistent device and method of some aspects be described in detail in claims, the disclosure.
It parks method the embodiment of the invention provides one kind, this method can be realized by vehicle.Vehicle may include processing
The components such as device, memory.Processor can be CPU (Central Processing Unit, central processing unit) etc., can be with
For the corresponding relationship according to preset lateral distance and forward distance, the first forward distance corresponding with lateral distance is determined,
Deng processing.Memory can be RAM (Random Access Memory, random access memory), and Flash (flash memory) etc. can
Data needed for the data that receive for storage, treatment process, the data generated in treatment process etc., it is such as preset lateral
Distance and the corresponding relationship of forward distance etc..
Vehicle can also include input part, display unit, audio output part etc..Input part can be touch screen
Deng.Display unit can be display for example vehicle-mounted MP5 (Moving Picture Experts Group Player 5, the 5th generation
Dynamic image expert group player).Audio output part can be speaker etc..
It should be noted that in daily life, the parking manoeuvres that driver independently carries out are roughly divided into three steps:
(1) suitable parking stall is found, car body is parked in initial position of suitably parking.
(2) turn steering wheel to the direction on parking stall, move backward.
(3) when car body has just enter into parking stall, turn steering wheel to opposite direction, continue to move backward, by car body adjusting, and by vehicle
Body is docked in the middle position on parking stall.
So far, it is believed that from whole process point of the initial position to the middle position that car body is docked in parking stall of parking
For two reversing stages, reversing route is " S " type, and two circular arcs up and down of " S " type respectively constitute two circles, the two circle phases
It cuts.In cusp position, the as driver position that needs to turn to opposite direction steering wheel.
In the method for parking that the disclosure proposes, each key parameter of driver's parking manoeuvres is calculated, and mentions
Show that driver carries out parking manoeuvres referring to the parameter after calculating.In the process, driver only need to accept the commander of vehicle into
Row corresponding operation no longer needs to look around car body position, parking stall position progress parking manoeuvres everywhere.
It parks method an exemplary embodiment of the present disclosure provides one kind, as shown in Figure 1, the process flow of this method can be with
It comprises the following steps that
Step S110, when detect auxiliary park instruct when, and when detecting that car body is opposite with target carriage bit parallel, pass through
Lateral distance measuring sensor obtains the lateral distance between car body location mid-shaft and target parking stall location mid-shaft.
In an implementation, driver is when having found suitable target parking position, and generally, driver is likely to be at target parking
The left back of position.At this moment, driver can trigger auxiliary and park function.When driver, which triggers, assists parking function, accordingly
Ground vehicle can detecte auxiliary and park instruction.At this moment, vehicle can open lateral distance measuring sensor.At this point, vehicle is still
Left back in target parking position, it is assumed that the rear of target parking position, which is berthed, an obstacle vehicle, then is passed by lateral ranging
Sensor can detect the lateral distance between Ben Che and obstacle vehicle.Driver drives slowly to move ahead, when vehicle crosses obstacle
Vehicle, when car body is opposite with target carriage bit parallel, lateral distance measuring sensor detects lateral between Ben Che and target parking position
Distance.At this point, lateral distance between Ben Che and target parking position must be greater than between Ben Che and obstacle vehicle it is lateral away from
From.The jump of lateral distance can be detected in the entire car controller of vehicle, lateral distance at this time be car body location mid-shaft with
Lateral distance between the location mid-shaft of target parking stall.
Step S120, according to the corresponding relationship of preset lateral distance and forward distance, determination is corresponding with lateral distance
First forward distance.
In an implementation, in entire car controller, preset lateral distance pass corresponding with forward distance will be preserved in advance
The list of system is stored.It should be noted that the corresponding relationship of lateral distance and forward distance is online lower by calculating
It arrives.It when calculating the corresponding relationship of lateral distance and forward distance, puts it into a list, directly reads when in use
It takes, without calculating again.In addition, by the meter for the corresponding relationship for finally introducing lateral distance and forward distance in the present embodiment
Calculation method.
Step S130 prompts user to drive to move ahead, drives when being detected by Displacement counter by preset prompting mode
The distance of Chinese herbaceous peony row with first move ahead be equidistant when, prompt user parking.
In an implementation, it is determining that first moves ahead after, user can be prompted to drive slowly to move ahead, open displacement at this time
It is cumulative that counter carries out displacement.When determine displacement be added to first move ahead be equidistant when, prompt user parking.At this point, example
As shown in Fig. 2, vehicle is parked in the position of P1.Vehicle will be moved backward by " S " type curve in Fig. 2, until being parked in P2
Position.
Optionally, preset prompting mode includes: to show that user will currently carry out by the display being mounted in car body
Operating procedure method；And/or the speaker by being mounted in car body plays the audio of user's operation currently to be carried out
Method.
In an implementation, the printed words of " please stop " can be shown, by the display being mounted in car body to prompt user to arrive
Up to reversing initial position, need to stop." please stop " can also be played by the speaker being mounted in car body, to prompt to use
Family reaches initial position of parking, and needs to stop.It should be noted that needing to mention there are many places during parking manoeuvres
Show that the operation of user, the operation of subsequent alerts user can also be carried out by above two mode, or may be real by other
Existing prompting mode carries out.In the operating process prompted, the sentence of the printed words of display or broadcasting need to only be replaced
It changes.
Step S140, according to the corresponding relationship of preset lateral distance and reversing angle, determination is corresponding with lateral distance
First reversing angle.
In an implementation, in entire car controller, pair of preset lateral distance with the first reversing angle will be preserved in advance
The list that should be related to is stored.In practical applications, preset lateral distance will can be preserved with before in step S110
Preset lateral distance of preserving in the list of the corresponding relationship of row distance, step S140 is closed with the first the corresponding of reversing angle
The list of system, the list of the corresponding relationship for preserving preset lateral distance and backing distance in step S160 permeate
List.In the fused list, gauge outfit can be set to lateral distance, table tail can be set to move ahead distance, first fall
Vehicle angle, backing distance.In this way, when lateral distance determines, the distance that moves ahead, the first reversing angle, backing distance are also all
It has determined one by one.
Step S150 prompts user by the reversing angle of direction disc spins first, when the side of passing through by preset prompting mode
After detecting the reversing angle of direction disc spins first to disk angular transducer, user is prompted to start by preset prompting mode
First stage reversing.
In an implementation, driver can beat wheel with original place, the angle of steering wheel angle sensor meeting monitoring direction disc spins
Size can prompt user to stop after direction disc spins first are moved backward angle by driver by preset prompting mode
Wheel is beaten, and carries out first stage reversing.In Fig. 2, driver is after the first stage moves backward, in order to by Che Xianting
In the position of C point, the position of C point is that two circular arcs up and down of " S " type on above described reversing route respectively constitute
Two round cusp positions.
Step S160, according in the corresponding relationship of preset lateral distance and backing distance, determination is corresponding with lateral distance
The first backing distance.
Step S170 prompts user to move backward the first backing distance, when passing through Displacement counter by preset prompting mode
When detecting the first backing distance of reversing, user's parking is prompted by preset prompting mode and is reversely rotated steering wheel default
Reversing angle prompts user to carry out second of reversing up to control car body is moored completely into target parking position.
Wherein, the first backing distance is in Fig. 2, as the distance between from P1 point to C point.It is examined when by Displacement counter
When measuring the first backing distance of reversing, vehicle is just rested on the position of C point.C point position, as driver need to negative side
To the position for turning steering wheel.Therefore, user's parking can be prompted by preset prompting mode and reversely rotate steering wheel pre-
If moving backward angle, user is prompted to carry out second of reversing until control car body is moored completely into target parking position.Finally, vehicle can stop
Pool is completed in the position of P2, entire parking manoeuvres.
Optionally, move backward for convenience the planning of route, default reversing angle can be set to kill on steering wheel pair
The reversing angle answered.
In an implementation, in second stage reversing, it can prompt driver that steering wheel is got to the position that cannot be rotated again
Upper is default reversing angle.
Optionally, method provided in this embodiment further include: when detect again auxiliary park instruct when, execute when detection
When opposite with target carriage bit parallel to car body, car body location mid-shaft and target parking stall axis position are obtained by lateral distance measuring sensor
Lateral distance between setting.
In an implementation, if, due to driver's operating error, caused after control car body moors target parking position completely
The not exclusively satisfied reversing of driver is parked function as a result, auxiliary can be triggered again.It is outputed at this point, driver can drive vehicle
Target parking position returns to the left back of target parking position, and vehicle can re-execute the steps S110 to step S170, with again into
Row parking manoeuvres.
It will be described below the other informations such as known lateral distance, determine the distance that moves ahead, the first reversing angle, backing distance
Mode.
Optionally, preset lateral distance is corresponding by first stage reversing with the corresponding relationship of backing distance
Reversing radius, second stage move backward what corresponding reversing radius determined, wherein the first stage moves backward corresponding reversing radius
For the lateral distance.
In an implementation, there is the kinematics model of parking established based on Ackermann steering set for Vehicular turn.The model
Describe steering angle related content.It is understood that general vehicle is four-wheel, in the present embodiment, do not have to consider four wheel models
Type, in order to facilitate analytical calculation, it is only necessary to by four-wheel model simplification at two-wheeled model.It is virtual there are two in above-mentioned two-wheeled model
Wheel, the two virtual wheels are respectively at automobile front-axle, the center of rear axle.The front-wheel of vehicle is deflecting roller, after
Wheel is driving wheel.During parking manoeuvres, the turning for relying primarily on front-wheel carries out the control of astern direction.
As shown in figure 3, being the schematic diagram of two-wheeled model.In Fig. 3, there are an angle γ, which is perpendicular to front-wheel
The angle that straight line intersects with the straight line perpendicular to rear-wheel.The size at the angle is the steering angle of front-wheel, is also the steering of car body
Angle.The size at the angle γ and the rotation angle of steering wheelThere are the relationships of approximately linear.Their conversion formula such as formula 1:
Wherein, K be γ withProportionality coefficient, which can pass through experimental calibration.
It is considered that being divided into two from the whole process in park initial position to the middle position that car body is docked in parking stall
A reversing stage, reversing route are " S " type, and two circular arcs up and down of " S " type respectively constitute two circles, the two circles are tangent.?
Cusp position, as driver need to turn to opposite direction the position of steering wheel.
Firstly, setting killing on steering wheel corresponding minimum turning half for second stage corresponding reversing radius of moving backward
Diameter.In Fig. 2, minimum turning radius Rmin.Rmin is related with vehicle itself, it is believed that Rmin is known.At this point, can
To think in second stage reversing process known to all control parameters.The problems in present parking manoeuvres are simplified to how to determine the
The position of the tangent point of contact C in initial position of parking, two circles in one stage reversing process, first stage are moved backward car body rotation angle
The problem of spending.
Then, lateral distance is known, can plan lateral distance reversing radius phase corresponding with first stage reversing
Deng.In Fig. 2, i.e. lateral distance X reversing radius R corresponding with first stage reversing is equal.It is corresponded to since the first stage moves backward
Circle and the corresponding circle of second stage reversing it is tangent, then point of contact is centainly on two round circle center line connectings.If parking
Initial position car body and target carriage bit parallel, it is right therewith for the initial position of parking at the point of contact being arbitrarily designated, all existence anduniquess
It answers.For the point of contact being arbitrarily designated, it moves backward on corresponding circular arc all in second stage.
Moreover, it is assumed that two centers of circle be it is known, i.e., the first stage reversing the center of circle be in the side away from initial position of parking
To at distance, the center of circle of second stage reversing is at the minimum turning radius away from end position of parking, and the half of other two circle
Diameter be it is known, then cusp position can be asked.After knowing cusp position, it can calculate and park according to all known parameters
Beginning position.Finally, it is known that initial position of parking, cusp position can calculate the travelled distance of first stage reversing, as
First backing distance described herein.
It should be noted that in above process, being calculated made by the steering angle with car body, it is also necessary to will by formula 1
The steering angle of car body is converted to the rotation angle of steering wheel, to prompt driver's steering wheel will beat how many angle.
The scheme provided through this embodiment, vehicle can prompt user such as on the time point of reservation, the position of reservation
What is operated.User only needs to follow the prompt of vehicle, so that it may complete parking manoeuvres.And during parking manoeuvres,
Vehicle auxiliary user judges the capable reversing that bends into for turning much angles where, and user is actual operator.In this way, vehicle can not only
It helps user to complete parking manoeuvres, while will not propose high request to the hardware of itself.Regardless of vehicle be manual gear or
Automatic catch, all by user's operation, accordingly even when not being also still to be able to achieve the auxiliary side of parking on very high vehicle in hardware configuration
Case.
Disclosure another exemplary embodiment provides a kind of parking apparatus, as shown in figure 4, the device includes:
Obtain module 410, for when detect auxiliary park instruct when, and detect that car body is opposite with target carriage bit parallel
When, the lateral distance between car body location mid-shaft and target parking stall location mid-shaft is obtained by lateral distance measuring sensor；
First determining module 420, for the corresponding relationship according to preset lateral distance and forward distance, it is determining with it is described
The corresponding first forward distance of lateral distance；
First cue module 430 is counted for prompting user to drive to move ahead by preset prompting mode when by displacement
Device detect the distance for driving forward with described first move ahead be equidistant when, prompt user parking；
Second determining module 440, for the corresponding relationship according to preset lateral distance and reversing angle, it is determining with it is described
The corresponding first reversing angle of lateral distance；
Second cue module 450, for by the preset prompting mode prompt user by described in the disc spins of direction the
One reversing angle is led to after detecting the first reversing angle described in the direction disc spins by steering wheel angle sensor
It crosses the preset prompting mode prompt user and starts first stage reversing；
Third determining module 460, in the corresponding relationship according to preset lateral distance and backing distance, determining and institute
State corresponding first backing distance of lateral distance；
Third cue module 470, for prompting user's the first backing distance of reversing by the preset prompting mode, when
When detecting the first backing distance of reversing by the Displacement counter, user's parking is prompted by the preset prompting mode
And the steering wheel is reversely rotated into default reversing angle, prompt user to carry out second stage reversing until control car body is moored completely
Enter the target parking position.
Optionally, the default reversing angle is that the steering wheel is killed to corresponding reversing angle.
Optionally, the preset prompting mode includes:
In such a way that the display being mounted in the car body shows user's operating procedure currently to be carried out；And/or
In such a way that the speaker being mounted in the car body plays the audio of user's operation currently to be carried out.
Optionally, described device further include:
Execution module, for when detect again auxiliary park instruct when, execute when detecting that car body and target parking stall are flat
When row is opposite, the lateral distance between car body location mid-shaft and target parking stall location mid-shaft is obtained by lateral distance measuring sensor.
Optionally, preset lateral distance is corresponding by first stage reversing with the corresponding relationship of backing distance
Reversing radius, second stage move backward what corresponding reversing radius determined, wherein the first stage moves backward corresponding reversing radius
For the lateral distance.
About the device in above-described embodiment, wherein modules execute the concrete mode of operation in related this method
Embodiment in be described in detail, no detailed explanation will be given here.
The scheme provided through this embodiment, vehicle can prompt user such as on the time point of reservation, the position of reservation
What is operated.User only needs to follow the prompt of vehicle, so that it may complete parking manoeuvres.And during parking manoeuvres,
Vehicle auxiliary user judges the capable reversing that bends into for turning much angles where, and user is actual operator.In this way, vehicle can not only
It helps user to complete parking manoeuvres, while will not propose high request to the hardware of itself.Regardless of vehicle be manual gear or
Automatic catch, all by user's operation, accordingly even when not being also still to be able to achieve the auxiliary side of parking on very high vehicle in hardware configuration
Case.
It should be understood that parking apparatus provided by the above embodiment is when being parked, only with above-mentioned each functional module
Division progress for example, in practical application, can according to need and above-mentioned function distribution is complete by different functional modules
At the internal structure of vehicle being divided into different functional modules, to complete all or part of the functions described above.Separately
Outside, parking apparatus provided by the above embodiment and embodiment of the method for parking belong to same design, the specific implementation process side of being detailed in
Method embodiment, which is not described herein again.
The another exemplary embodiment of the disclosure shows a kind of structural schematic diagram of vehicle.
Referring to Fig. 5, vehicle 700 may include following one or more components: processing component 702, memory 704, power supply
Component 706, multimedia component 708, audio component 710, the interface 712 of input/output (I/O), sensor module 714.
The integrated operation of the usually control vehicle 700 of processing component 702.Processing element 702 may include one or more places
Device 720 is managed to execute instruction, to perform all or part of the steps of the methods described above.In addition, processing component 702 may include one
A or multiple modules, convenient for the interaction between processing component 702 and other assemblies.For example, processing component 702 may include more matchmakers
Module, to facilitate the interaction between multimedia component 708 and processing component 702.
Memory 704 is configured as storing various types of data to support the operation in vehicle 700.These data are shown
Example includes the instruction of any application or method for operating on vehicle 700, contact data, and telephone book data disappears
Breath, picture, video etc..Memory 704 can be by any kind of volatibility or non-volatile memory device or their group
It closes and realizes, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM) is erasable to compile
Journey read-only memory (EPROM), programmable read only memory (PROM), read-only memory (ROM), magnetic memory, flash
Device, disk or CD.
Electric power assembly 706 provides electric power for the various assemblies of vehicle 700.Electric power assembly 706 may include power management system
System, one or more power supplys and other with for audio output apparatus 700 generate, manage, and distribute the associated component of electric power.
Multimedia component 708 includes the screen of one output interface of offer between the vehicle 700 and user.One
In a little embodiments, screen may include liquid crystal display (LCD) and touch panel (TP).If screen includes touch panel, screen
Curtain may be implemented as touch screen, to receive input signal from the user.Touch panel includes one or more touch sensings
Device is to sense the gesture on touch, slide, and touch panel.The touch sensor can not only sense touch or sliding action
Boundary, but also detect duration and pressure associated with the touch or slide operation.In some embodiments, more matchmakers
Body component 708 includes a front camera and/or rear camera.When vehicle 700 is in operation mode, such as screening-mode or
When video mode, front camera and/or rear camera can receive external multi-medium data.Each front camera and
Rear camera can be a fixed optical lens system or have focusing and optical zoom capabilities.
Audio component 710 is configured as output and/or input audio signal.
I/O interface 712 provides interface between processing component 702 and peripheral interface module, and above-mentioned peripheral interface module can
To be button etc..
Sensor module 714 includes one or more sensors, and the state for providing various aspects for vehicle 700 is commented
Estimate.Sensor module 714 can detecte the position change of 700 1 components of vehicle 700 or vehicle, and 700 orientation of vehicle or acceleration/
The temperature change slowed down with vehicle 700.Sensor module 714 may include proximity sensor, be configured to not any
Physical contact when detect the presence of nearby objects.Sensor module 714 can also include optical sensor, as CMOS or CCD schemes
As sensor, for being used in imaging applications.In some embodiments, which can also include acceleration
Sensor, gyro sensor, Magnetic Sensor, pressure sensor or temperature sensor.
In the exemplary embodiment, vehicle 700 can be believed by one or more application specific integrated circuit (ASIC), number
Number processor (DSP), digital signal processing appts (DSPD), programmable logic device (PLD), field programmable gate array
(FPGA), controller, microcontroller, microprocessor or other electronic components are realized, for executing the above method.
In the exemplary embodiment, a kind of computer readable storage medium including instruction is additionally provided, for example including finger
The memory 704 of order, above-metioned instruction can be executed by the processor 720 of vehicle 700 to complete the above method.For example, the calculating
Machine readable storage medium storing program for executing can be ROM, random access memory (RAM), CD-ROM, tape, floppy disk and optical data storage devices
Deng.
The another embodiment of the disclosure provides a kind of computer readable storage medium, the instruction in the storage medium
When being executed by the processor of terminal, enable the terminal to execute:
When detect auxiliary park instruct when, and when detecting that car body is opposite with target carriage bit parallel, pass through lateral ranging
Sensor obtains the lateral distance between car body location mid-shaft and target parking stall location mid-shaft；
According to the corresponding relationship of preset lateral distance and forward distance, before determining corresponding with the lateral distance first
Row distance；
By preset prompting mode prompt user drive to move ahead, when detected by Displacement counter drive it is forward away from
From with described first move ahead be equidistant when, prompt user parking；
According to the corresponding relationship of preset lateral distance and reversing angle, determine that corresponding with the lateral distance first falls
Vehicle angle；
Prompt user by the first reversing angle described in the disc spins of direction by the preset prompting mode, when passing through direction
After disk angular transducer detects the first reversing angle described in the direction disc spins, mentioned by the preset prompting mode
Show that user starts first stage reversing；
According in the corresponding relationship of preset lateral distance and backing distance, corresponding with the lateral distance first is determined
Backing distance；
User's the first backing distance of reversing is prompted by the preset prompting mode, is examined when by the Displacement counter
When measuring the first backing distance of reversing, prompts user to stop by the preset prompting mode and reversely revolve the steering wheel
Turn default reversing angle, prompts user to carry out second stage reversing until control car body is moored completely into the target parking position.
Optionally, the default reversing angle is that the steering wheel is killed to corresponding reversing angle.
Optionally, the preset prompting mode includes:
In such a way that the display being mounted in the car body shows user's operating procedure currently to be carried out；And/or
In such a way that the speaker being mounted in the car body plays the audio of user's operation currently to be carried out.
Optionally, the method also includes:
When detect again auxiliary park instruct when, execute when detecting that car body is opposite with target carriage bit parallel, pass through
Lateral distance measuring sensor obtains the lateral distance between car body location mid-shaft and target parking stall location mid-shaft.
Optionally, preset lateral distance is corresponding by first stage reversing with the corresponding relationship of backing distance
Reversing radius, second stage move backward what corresponding reversing radius determined, wherein the first stage moves backward corresponding reversing radius
For the lateral distance.
Those skilled in the art will readily occur to its of the disclosure after considering specification and practicing disclosure disclosed herein
Its embodiment.This application is intended to cover any variations, uses, or adaptations of the disclosure, these modifications, purposes or
Person's adaptive change follows the general principles of this disclosure and including the undocumented common knowledge in the art of the disclosure
Or conventional techniques.The description and examples are only to be considered as illustrative, and the true scope and spirit of the disclosure are by following
Claim is pointed out.
It should be understood that the present disclosure is not limited to the precise structures that have been described above and shown in the drawings, and
And various modifications and changes may be made without departing from the scope thereof.The scope of the present disclosure is only limited by the accompanying claims.
Claims (10)
- The method 1. one kind is parked, which is characterized in that the described method includes:When detect auxiliary park instruct when, and when detecting that car body is opposite with target carriage bit parallel, sensed by lateral ranging Device obtains the lateral distance between car body location mid-shaft and target parking stall location mid-shaft；According to the corresponding relationship of preset lateral distance and forward distance, determine corresponding with the lateral distance first it is forward away from From；Prompt user to drive to move ahead by preset prompting mode, when detected by Displacement counter the distance of driving forward and Described first moves ahead when being equidistant, and prompts user's parking；According to the corresponding relationship of preset lateral distance and reversing angle, the first reversing corresponding with lateral distance angle is determined Degree；Prompt user by the first reversing angle described in the disc spins of direction by the preset prompting mode, when passing through steering wheel angle After degree sensor detects the first reversing angle described in the direction disc spins, used by the preset prompting mode prompt Family starts first stage reversing；According in the corresponding relationship of preset lateral distance and backing distance, determining corresponding with the lateral distance first moves backward Distance；User's the first backing distance of reversing is prompted by the preset prompting mode, is detected when by the Displacement counter Move backward the first backing distance when, user's parking is prompted by the preset prompting mode and is reversely rotated the steering wheel pre- If moving backward angle, user is prompted to carry out second stage reversing until control car body is moored completely into the target parking stall.
- 2. the method according to claim 1, wherein the steering wheel is is killed institute by the default reversing angle Corresponding reversing angle.
- 3. the method according to claim 1, wherein the preset prompting mode includes:In such a way that the display being mounted in the car body shows user's operating procedure currently to be carried out；And/orIn such a way that the speaker being mounted in the car body plays the audio of user's operation currently to be carried out.
- 4. the method according to claim 1, wherein the method also includes:When detect again auxiliary park instruct when, execute when detecting that car body is opposite with target carriage bit parallel, by lateral Distance measuring sensor obtains the lateral distance between car body location mid-shaft and target parking stall location mid-shaft.
- 5. method described in any one of -4 according to claim 1, which is characterized in that preset lateral distance and backing distance Corresponding relationship be that moved backward by the first stage corresponding reversing radius, second stage is moved backward corresponding reversing radius determination , wherein the first stage moves backward corresponding reversing radius as the lateral distance.
- 6. a kind of parking apparatus, which is characterized in that described device includes:Obtain module, for when detect auxiliary park instruct when, and when detecting that car body is opposite with target carriage bit parallel, pass through Lateral distance measuring sensor obtains the lateral distance between car body location mid-shaft and target parking stall location mid-shaft；First determining module, for the corresponding relationship according to preset lateral distance and forward distance, it is determining with it is described laterally away from From corresponding first it is forward with a distance from；First cue module is detected for prompting user to drive to move ahead by preset prompting mode when by Displacement counter When being equidistant to the distance for driving forward and described first are forward, user's parking is prompted；Second determining module, for the corresponding relationship according to preset lateral distance and reversing angle, it is determining with it is described laterally away from From corresponding first reversing angle；Second cue module, for prompting user by the first reversing angle described in the disc spins of direction by the preset prompting mode Degree, after detecting the first reversing angle described in the direction disc spins by steering wheel angle sensor, by described pre- If prompting mode prompt user start the first stage reversing；Third determining module, in the corresponding relationship according to preset lateral distance and backing distance, it is determining with it is described lateral Apart from corresponding first backing distance；Third cue module, for prompting user's the first backing distance of reversing by the preset prompting mode, when passing through When stating Displacement counter and detecting the first backing distance of reversing, user's parking is prompted by the preset prompting mode and by institute It states steering wheel and reversely rotates default reversing angle, prompt user to carry out second stage reversing until control car body is moored completely into described Target parking stall.
- 7. device according to claim 6, which is characterized in that the steering wheel is is killed institute by the default reversing angle Corresponding reversing angle.
- 8. device according to claim 6, which is characterized in that the preset prompting mode includes:In such a way that the display being mounted in the car body shows user's operating procedure currently to be carried out；And/orIn such a way that the speaker being mounted in the car body plays the audio of user's operation currently to be carried out.
- 9. device according to claim 6, which is characterized in that described device further include:Execution module, for when detect again auxiliary park instruct when, execute when detecting car body and target carriage bit parallel phase Clock synchronization obtains the lateral distance between car body location mid-shaft and target parking stall location mid-shaft by lateral distance measuring sensor.
- 10. the device according to any one of claim 6-9, which is characterized in that preset lateral distance and reversing away from From corresponding relationship be that moved backward by the first stage corresponding reversing radius, the corresponding reversing radius of second stage reversing is true Fixed, wherein the first stage moves backward corresponding reversing radius as the lateral distance.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710661593.XA CN107416023B (en) | 2017-08-04 | 2017-08-04 | It parks method and apparatus |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710661593.XA CN107416023B (en) | 2017-08-04 | 2017-08-04 | It parks method and apparatus |
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| CN107416023A CN107416023A (en) | 2017-12-01 |
| CN107416023B true CN107416023B (en) | 2019-04-12 |
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| CN201710661593.XA Active CN107416023B (en) | 2017-08-04 | 2017-08-04 | It parks method and apparatus |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109543609B (en) * | 2018-11-22 | 2022-04-12 | 四川长虹电器股份有限公司 | Method for detecting reversing distance |
| CN114312567A (en) * | 2022-01-14 | 2022-04-12 | 芜湖雄狮汽车科技有限公司 | Reversing reminding method and device, vehicle and storage medium |
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| CN103158703A (en) * | 2013-03-26 | 2013-06-19 | 北京经纬恒润科技有限公司 | Control method for parallel parking |
| CN106143609A (en) * | 2016-07-15 | 2016-11-23 | 江苏大学 | A kind of parking system and vertical direction thereof are parked method |
| CN106740818A (en) * | 2016-12-19 | 2017-05-31 | 合肥工业大学 | A kind of automatic parking route planning method and system based on EPS |
| CN106781666A (en) * | 2016-12-29 | 2017-05-31 | 珠海市魅族科技有限公司 | A kind of control method and system of target parking stall |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3749483B2 (en) * | 2002-01-11 | 2006-03-01 | トヨタ自動車株式会社 | Parking assistance device |
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|---|---|---|---|---|
| CN103158703A (en) * | 2013-03-26 | 2013-06-19 | 北京经纬恒润科技有限公司 | Control method for parallel parking |
| CN106143609A (en) * | 2016-07-15 | 2016-11-23 | 江苏大学 | A kind of parking system and vertical direction thereof are parked method |
| CN106740818A (en) * | 2016-12-19 | 2017-05-31 | 合肥工业大学 | A kind of automatic parking route planning method and system based on EPS |
| CN106781666A (en) * | 2016-12-29 | 2017-05-31 | 珠海市魅族科技有限公司 | A kind of control method and system of target parking stall |
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| CN107416023A (en) | 2017-12-01 |
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