CN107640147A - parking assistance method and system - Google Patents
parking assistance method and system Download PDFInfo
- Publication number
- CN107640147A CN107640147A CN201610567104.XA CN201610567104A CN107640147A CN 107640147 A CN107640147 A CN 107640147A CN 201610567104 A CN201610567104 A CN 201610567104A CN 107640147 A CN107640147 A CN 107640147A
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- China
- Prior art keywords
- automobile
- parking
- assistance method
- whole ground
- parking assistance
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- 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
- B62D15/025—Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation
-
- 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
Abstract
The invention provides a kind of parking assistance method and system.The parking assistance method includes：The track of parking of automobile is calculated, and the width based on park track and automobile itself determines automobile during entirely parking by inswept whole ground regions；Travel speed based on automobile itself, there is provided the configured information about one or more of whole ground regions area dividing.
Description
Technical field
The present invention relates to automotive field, relates more specifically to a kind of parking assistance method and system.
Background technology
With the popularization of automobile, an important skill for being increasingly becoming people is driven.It is not refined enough for some driving technologies
For ripe people, it is a relatively difficult thing to park.Therefore, it is mounted with parking assisting system on increasing automobile.
Parking assisting system can be completed to park with driver's cooperation, can also complete to park entirely autonomously.
Whether driver by oneself manipulation automobile come complete to park or parking assisting system it is semi-automatic or it is complete oneself
Complete to park dynamicly, be all easy to occur during parking automobile and pedestrian, automobile and automobile or automobile and other objects it
Between scratch or collide.At present, by sensing installed in the radar on the head of automobile and afterbody in motor vehicle environment preset range
Pedestrian or object, and inform that driver pays attention to adjusting driving states by the form of early warning, with avoid automobile and its around
Pedestrian or object are scratched or collided.
Pedestrian or vehicle during parking to motor vehicle environment provide the finger of ground region that will be inswept about this car
Show for avoid automobile with pedestrian around it or vehicle scratch or collide it is helpful.
The content of the invention
The invention provides a kind of novel parking assistance method and system.
Parking assistance method according to embodiments of the present invention, including：The track of parking of automobile is calculated, and based on track of parking
Determine automobile during entirely parking by inswept whole ground regions with the width of automobile itself；And based on automobile itself
Travel speed, there is provided the configured information about one or more of whole ground regions area dividing.
Parking assisting system according to embodiments of the present invention, including：Trajectory calculation unit, it is configured as calculating the pool of automobile
Wheel paths, and the width based on park track and automobile itself determines automobile during entirely parking by inswept whole ground
Region；And region indicating member, it is configured as the travel speed based on automobile itself, there is provided in relevant whole ground regions
The configured information of one or more area dividings.
Parking assistance method according to embodiments of the present invention and system can be during parking, the traveling shape based on automobile
State provides the configured information of ground region that will be inswept within ensuing a period of time about automobile in real time, so as to
Relatively accurately the pedestrian of prompting motor vehicle environment or vehicle pay attention to the avoidance to automobile in itself.
Brief description of the drawings
The present invention may be better understood from the description to the embodiment of the present invention below in conjunction with the accompanying drawings, its
In：
Fig. 1 is the block diagram for showing parking assisting system according to embodiments of the present invention；
Fig. 2 is the flow chart for showing parking assistance method according to embodiments of the present invention；
Fig. 3 a are to show when target parking stall is parallel with track automobile during entirely parking by inswept whole ground
The schematic diagram of one or more of region area dividing；
Fig. 3 b are to show when target parking stall is vertical with track automobile during entirely parking by inswept whole ground
The schematic diagram of one or more of region area dividing；And
Fig. 4 is the example for illustrating the ability to realize parking assisting system according to embodiments of the present invention and the computing device of method
The structure chart of property hardware structure.
Embodiment
The feature and exemplary embodiment of various aspects of the invention are described in detail below in conjunction with accompanying drawing.Following detailed
In thin description, it is proposed that many details, to provide complete understanding of the present invention.But for people in the art
It will be apparent that the present invention can be implemented in the case of some details in not needing these details for member.Below
Description to embodiment is used for the purpose of by showing that the example of the present invention is better understood to provide to the present invention.The present invention
Any concrete configuration set forth below and algorithm are never limited to, but is covered under the premise of without departing from the spirit of the present invention
Any modification, replacement and the improvement of element, part and algorithm.In the the accompanying drawings and the following description, known structure is not shown
And technology, to avoid that unnecessary obscure is caused to the present invention.
In view of limitation existing for existing parking assistance method and system, it is proposed that a kind of novel auxiliary square of parking
Method and system, with during parking the transport condition based on automobile provide relevant automobile in real time in ensuing a period of time
The configured information of interior ground region that will be inswept, so as to relatively accurately remind the pedestrian of motor vehicle environment or vehicle to pay attention to pair
The avoidance of automobile in itself.Below in conjunction with the accompanying drawings, parking assisting system according to embodiments of the present invention and method is described in detail.
Fig. 1 is the block diagram for showing parking assisting system according to embodiments of the present invention.Fig. 2 is to show to be implemented according to the present invention
The flow chart of the parking assistance method of example.As shown in figure 1, parking assisting system 100 according to embodiments of the present invention includes track
Computing unit 102 and region indicating member 104.Wherein, trajectory calculation unit 102 calculates the track of parking of automobile, and based on meter
The width of park track and the automobile itself that calculate determines automobile during entirely parking by inswept whole ground regions
(that is, performing step S202)；Travel speed of the region indicating member 104 based on automobile itself, there is provided relevant automobile is entirely being moored
The configured information of one or more of inswept whole ground regions area dividing (that is, is performed into step during car
S204)。
In certain embodiments, sensor is installed at the head of automobile, afterbody and left and right rearview mirror, these sensings
Device can measure original position when the process of parking starts of the position and size, automobile of target parking stall, automobile relative to target
Current location of parking stall etc..Here, target parking stall can be the parking stall parallel or vertical with track；The big I of target parking stall
To be characterized by the length and width of target parking stall；Original position of the automobile when the process of parking starts can by for example, automobile away from
The barrier around vertical range, automobile distance objective parking stall from target parking stall is (for example, stop over is good around target parking stall
Static infrastructure around other vehicles, target parking stall etc.) distance etc. characterize；The sensor can include for example,
One or more of camera, ultrasonic sensor, infrared sensor.
In certain embodiments, trajectory calculation unit 102 can calculate track of parking by following processing：According to target
The distance of barrier around the size of parking stall, the vertical range of automobile distance objective parking stall and automobile distance objective parking stall,
Two tangent circles for being formed the path for travelling process during parking using Ackermann steering characteristic formula calculating automobile
Arc, so as to draw track of parking (that is, according to the position of target parking stall and size and vehicle when the process of parking starts
Position calculated and parked track beginning).Those skilled in the art it is to be understood that trajectory calculation unit 102 can also use it is above-mentioned
Present existing beyond method or the other method developed in the future calculate track of parking.
In certain embodiments, trajectory calculation unit 102 can be extended in the width of automobile to track of parking,
And using will during whole park as automobile to the curved surface that track of parking is extended to obtain in the width of automobile
Inswept whole ground regions (below, referred to as " whole ground region S ").
In certain embodiments, whole ground region S include the side or more being located in vehicle front, rear and side
The area dividing of side.Fig. 3 a are to show when target parking stall is parallel with track automobile during entirely parking by inswept whole
The schematic diagram of one or more of ground region area dividing.Fig. 3 b are to show that automobile exists when target parking stall is vertical with track
By the schematic diagram of one or more of inswept whole ground regions area dividing during entirely parking.As shown in Figure 3 a,
When target parking stall is parallel with track, whole ground region S can include the area dividing B1 (heads of automobile positioned at automobile left side
Portion is by the inswept area dividing), the area dividing B2 positioned at automobile rear and the area dividing positioned at automobile rear side to the right
B3 and B4；As shown in Figure 3 b, when target parking stall is vertical with track, whole ground region S can include inclined positioned at vehicle front
The area dividing B1 ' in left side, the area dividing B2-1 ' positioned at automobile left side, the area dividing B2-2 ' positioned at vehicle front, position
Area dividing B3-1 ' in automobile rear, the area dividing B3-2 ' positioned at car right side side to the rear and positioned at automobile rear
The area dividing B4 ' and B5 ' of side to the right.
In certain embodiments, region indicating member 104 can the travel speed based on automobile itself, there is provided it is relevant all
The configured information of one or more of ground region S area dividing.Specifically, when the travel speed of automobile itself is zero,
Region indicating member 104 can provide will be inswept when the travel speed about automobile in fully face region S is changed into non-zero from zero
Presumptive area piecemeal (for example, area dividing B1 and B2 in Fig. 3 a；Area dividing B2-1 ', B2-2 ', B3-1 ' in Fig. 3 b,
And B3-2 ') configured information；When the travel speed of automobile itself is not zero, region indicating member 104 can provide relevant complete
In portion ground region S automobile in the given time by inswept area dividing (for example, area dividing B1, B2 in Fig. 3 a and
B3；Area dividing B2-1 ', B2-2 ', B3-1 ', B3-2 ' and B1 ' in Fig. 3 b) configured information.
In certain embodiments, region indicating member 104 can be by one or more of relevant whole ground region S area
The configured information of domain partitioning is supplied to the pedestrian of motor vehicle environment, and/or other vehicles of motor vehicle environment.For example, region instruction is single
Member 104 can be sent the configured information about one or more of whole ground region S area dividing by radio communication
To the control unit of other of mobile device, and/or motor vehicle environment vehicle used in the pedestrian of motor vehicle environment.So, automobile
The pedestrian of surrounding can be avoided based on the configured information from region indicating member 104 to automobile；Motor vehicle environment other
The control unit of vehicle can be applied and helped based on the configured information from region indicating member 104 to the transfer of the vehicle
Show that the figure of one or more of whole ground region S area dividing refers in power or the display installed on the vehicle
Show, automobile is avoided with guiding the driver of the vehicle to manipulate the vehicle.
In certain embodiments, the configured information that region indicating member 104 provides can be voice configured information or regard
Feel configured information etc..For example, region indicating member 104 can be by dividing to one or more of whole ground region S region
Block projection optics indication signal, the human pilot of other vehicles of pedestrian or motor vehicle environment to motor vehicle environment and seating
Personnel provide visually indicates information about fully one or more of face region S area dividings；Or region instruction is single
Graphical indicator about one or more of whole ground region S area dividing can be sent to automobile week by member 104
The control unit of other of mobile device, and/or motor vehicle environment vehicle used in the pedestrian enclosed, so that the pedestrian of motor vehicle environment
Shown on the display installed on other vehicles of used mobile device, and/or motor vehicle environment in whole ground region S
The figure instruction of one or more area dividings；Or region indicating member 104 can be played in relevant whole ground region S
The voice configured information of one or more area dividings；Or region indicating member 104 can be by relevant whole ground region S
The voice configured informations of one or more area dividings be sent to mobile device used in the pedestrian of motor vehicle environment or vapour
The control unit of other vehicles around car, so that mobile device used in the pedestrian of motor vehicle environment, and/or motor vehicle environment
The loudspeaker installed on other vehicles plays the voice instruction letter about one or more of whole ground region S area dividing
Breath.
In the case where the configured information that region indicating member 104 provides is to visually indicate information, region indicating member 104
The distance between current location of one or more of whole ground region S area dividing and automobile is also based on, it is determined that
The optics indication signal corresponding with one or more area dividings or the color of figure instruction, intensity, texture, Yi Jishan
One or more of bright frequency.So, the above-mentioned component that can be indicated by adjusting above optics indication signal or figure
One or more of represent the warning degree for regional piecemeal.
For example, region indicating member 104 can determine：For the nearest area dividing (example in the current location apart from automobile
Such as, the area dividing B1 and B2 in Fig. 3 a；Area dividing B2-1 ', B2-2 ', B3-1 ' and B3-2 ' in Fig. 3 b) red is provided
, intensity is larger, the instruction of optics indication signal or figure texture comparatively dense and that flicker frequency is higher；For away from
The area dividing (for example, B3 in Fig. 3 a and B4 ' and B5 ' in B4, Fig. 3 b) slightly remote from the current location of automobile provides orange
, the optics indication signal that intensity is less, texture is sparse and flicker frequency is relatively low or figure instruction.For example, light
It can be by the laser projector projection laser signal on the ground on automobile to learn indication signal, and can be passed through
The mechanical alteration of laser transilluminator changes one of the color of laser signal, intensity, texture and flicker frequency or more
Person.
Can be by removably or being fixedly mounted in car with reference to Fig. 1 to Fig. 2 parking assisting systems described and method
Computing device on is realized.Fig. 4 is to illustrate the ability to realize parking assisting system according to embodiments of the present invention and the meter of method
Calculate the structure chart of the exemplary hardware architecture of equipment.As shown in figure 4, computing device 400 includes input equipment 401, input interface
402nd, central processing unit 403, memory 404, output interface 405 and output equipment 406.Wherein, input interface 402, center
Processor 403, memory 404 and output interface 405 are connected with each other by bus 410, input equipment 401 and output equipment
406 are connected by input interface 402 and output interface 405 with bus 410 respectively, so with the other assemblies of computing device 400
Connection.Specifically, input equipment 401 receives the input information from outside (for example, the sensor installed on vehicle), and passes through
Input interface 402 will input information transmission to central processing unit 403；Central processing unit 403 is based on the meter stored in memory 404
Calculation machine executable instruction is handled to generate output information input information, and output information is temporarily or permanently stored in
In memory 404, output information is then sent to by output equipment 406 by output interface 405；Output equipment 406 will export
Information is output to the outside of computing device 400 for users to use.
That is, the parking assisting system 100 shown in Fig. 1 can also be implemented as including：Being stored with computer can hold
The memory of row instruction；And processor, the processor can be realized with reference to Fig. 1 and figure when performing computer executable instructions
The training method of parking of 2 descriptions.Here, processor can be based on from for example, the input letter of the sensor on vehicle
Breath performs computer executable instructions, so as to realize the parking assistance method with reference to Fig. 1 and Fig. 2 descriptions.
In addition, the mobile device that pedestrian above-mentioned uses can be such as portable computer, tablet personal computer, function hand
The mobile terminal of machine, smart mobile phone, personal digital assistant (PDA), wearable device etc.
It should be clear that the invention is not limited in particular configuration that is described above and being shown in figure and processing.
For brevity, it is omitted here the detailed description to known method.In the above-described embodiments, some tools have been described and illustrated
The step of body, is as example.But procedure of the invention is not limited to described and illustrated specific steps, this area
Technical staff can be variously modified, change and add after the spirit of the present invention is understood, or suitable between change step
Sequence.
Functional block shown in structures described above block diagram can be implemented as hardware, software, firmware or their group
Close.When realizing in hardware, its may, for example, be electronic circuit, application specific integrated circuit (ASIC), appropriate firmware, insert
Part, function card etc..When being realized with software mode, element of the invention is used to perform program or the generation of required task
Code section.Either code segment can be stored in machine readable media program or the data-signal by being carried in carrier wave is passing
Defeated medium or communication links are sent." machine readable media " can include any medium that can store or transmit information.
The example of machine readable media includes electronic circuit, semiconductor memory devices, ROM, flash memory, erasable ROM (EROM), soft
Disk, CD-ROM, CD, hard disk, fiber medium, radio frequency (RF) link, etc..Code segment can be via such as internet, inline
The computer network of net etc. is downloaded.
The present invention can realize in other specific forms, without departing from its spirit and essential characteristics.For example, particular implementation
Algorithm described in example can be changed, and system architecture is without departing from the essence spirit of the present invention.Therefore, currently
Embodiment be all counted as being exemplary rather than in all respects it is limited, the scope of the present invention by appended claims rather than
Foregoing description defines, also, fall into claim implication and equivalent in the range of whole change so as to all be included in
Among the scope of the present invention.
Claims (10)
1. a kind of parking assistance method, including：
Calculate the track of parking of automobile, and track is parked and the automobile width of itself determines the automobile whole based on described
It is individual park during by inswept whole ground regions；And
Based on the automobile travel speed of itself, there is provided one or more of relevant described whole ground regions area dividing
Configured information.
2. parking assistance method according to claim 1, it is characterised in that the travel speed of itself is zero when the automobile
When, there is provided by inswept presumptive area when the travel speed about automobile described in whole ground regions is changed into non-zero from zero
The configured information of piecemeal.
3. parking assistance method according to claim 1, it is characterised in that the travel speed of itself is not when the automobile
When zero, there is provided in the given time believe the instruction of inswept area dividing about automobile described in whole ground regions
Breath.
4. parking assistance method according to claim 1, it is characterised in that whole ground regions are included positioned at described
A side or multi-party area dividing in vehicle front, rear and side.
5. parking assistance method according to any one of claim 1 to 4, it is characterised in that the configured information is to regard
Feel configured information or audible indication information.
6. parking assistance method according to claim 5, it is characterised in that by respectively with one or more of regions
The corresponding optics indication signal of piecemeal or figure instruction refer to provide the vision about one or more of area dividings
Show information.
7. parking assistance method according to claim 6, it is characterised in that based on one or more of area dividings with
The distance between current location of the automobile, it is determined that the optics instruction corresponding with one or more of area dividings respectively
One or more of signal or color, intensity, texture and the flicker frequency of figure instruction.
8. a kind of parking assisting system, including：
Trajectory calculation unit, it is configured as calculating the track of parking of automobile, and based on park track and the automobile itself
Width determine the automobile during entirely parking by inswept whole ground regions；And
Region indicating member, it is configured as based on the automobile travel speed of itself, there is provided relevant whole ground regions
One or more of area dividing configured information.
9. a kind of parking assisting system, including：
Memory, it is stored with computer executable instructions；And
Processor, it is operable with perform claim requirement 1 to 7 when computer executable instructions described in the computing device
Parking assistance method described in one.
10. a kind of parking assisting system, including：
Sensor；
Memory, it is stored with computer executable instructions；And
Processor, it is operable with perform claim requirement 1 to 7 when computer executable instructions described in the computing device
Parking assistance method described in one.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610567104.XA CN107640147B (en) | 2016-07-18 | 2016-07-18 | Parking assistance method and system |
| PCT/EP2017/000826 WO2018015003A1 (en) | 2016-07-18 | 2017-07-12 | Method and system for parking assistance |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610567104.XA CN107640147B (en) | 2016-07-18 | 2016-07-18 | Parking assistance method and system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107640147A true CN107640147A (en) | 2018-01-30 |
| CN107640147B CN107640147B (en) | 2020-12-04 |
Family
ID=59337613
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610567104.XA Active CN107640147B (en) | 2016-07-18 | 2016-07-18 | Parking assistance method and system |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN107640147B (en) |
| WO (1) | WO2018015003A1 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113799765A (en) * | 2020-06-17 | 2021-12-17 | 观致汽车有限公司 | Automatic parking method and system |
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| CN1371079A (en) * | 2001-02-09 | 2002-09-25 | 松下电器产业株式会社 | Image synthesizer |
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Also Published As
| Publication number | Publication date |
|---|---|
| WO2018015003A1 (en) | 2018-01-25 |
| CN107640147B (en) | 2020-12-04 |
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