CN108569337B

CN108569337B - Vehicle driving assistance system and method

Info

Publication number: CN108569337B
Application number: CN201710144590.9A
Authority: CN
Inventors: 唐帅
Original assignee: Audi AG
Current assignee: Audi AG
Priority date: 2017-03-10
Filing date: 2017-03-10
Publication date: 2020-11-27
Anticipated expiration: 2037-03-10
Also published as: CN108569337A

Abstract

The invention provides a vehicle driving assistance system and a vehicle driving assistance method. The vehicle driving assist system for assisting a driver in parking a vehicle at a position of an energy supply area where energy input is performed, the energy supply area being provided with at least one energy supply device, the system comprising: a first detection unit for detecting whether the vehicle enters the energy supply area; a second detection unit for detecting a position of an energy input port of the vehicle on the vehicle; and a control unit for determining a target energy supply device of the vehicle from the at least one energy supply device and determining an initial parking position of the vehicle, the control unit further determining whether the target energy supply device and the energy input port of the vehicle are located on the same side or opposite sides of the vehicle in a case where the vehicle is located at the initial parking position.

Description

Vehicle driving assistance system and method

Technical Field

The present invention relates to the field of vehicle driving assistance. In particular, the present invention relates to a vehicle driving assist system and method that assists a driver in parking a vehicle at a suitable energy input location when the vehicle is replenished with energy.

Background

For vehicles using fuel as an energy source, when entering a filling station to refuel the vehicle, the driver forgets to consider the location of the fuel inlet of the vehicle when selecting a fuel dispenser, so that the fuel inlet is located on opposite sides of the vehicle from the selected fuel dispenser when the vehicle is stopped, making it difficult or even impossible for the fuel gun of the fuel dispenser to reach the fuel inlet. Sometimes, the above problems are also caused because many vehicles are waiting in line for refueling and the driver cannot select a proper fuel dispenser. In this case, since the gas station space is narrow, it is difficult for the driver to adjust the vehicle position particularly in the case of many vehicles. Thus, the crew can only fill the oil by pulling the oil line around one end or over the vehicle, which tends to soil the surface of the vehicle.

For some electric vehicles, when charging using the charging post, the charging port of the vehicle and the selected charging post may be located on opposite sides of the vehicle when the vehicle is stopped, possibly because the position of the charging port is not considered when parking the vehicle. This causes the charging gun to be not easily accessible or accessible to the charging port, and the driver needs to adjust the vehicle position.

Therefore, there is a need for a system and method that assists a driver in parking a vehicle at an appropriate energy input location when the vehicle is being recharged.

Disclosure of Invention

An object of the present invention is to provide a vehicle driving assist system and method for assisting a driver in parking a vehicle at a suitable energy input location when energy is replenished to the vehicle. Another object of the present invention is to provide a driving assistance system and method for a vehicle for assisting a driver in parking the vehicle at a position such that an energy input port of the vehicle is located at the same side of the vehicle as a target energy supply apparatus when the vehicle is replenished with energy.

According to an aspect of the present invention, there is provided a vehicle driving assist system for assisting a driver in parking a vehicle at a position of an energy supply area where energy input is performed, the energy supply area being provided with at least one energy supply device, the system comprising: a first detection unit for detecting whether the vehicle enters the energy supply area; a second detection unit for detecting a position of an energy input port of the vehicle on the vehicle; and a control unit for determining a target energy supply apparatus of the vehicle from among the at least one energy supply apparatus and determining an initial parking position of the vehicle, the control unit further determining whether the target energy supply apparatus and the energy input port of the vehicle are located on the same side or opposite sides of the vehicle in a case where the vehicle is located at the initial parking position.

According to an embodiment of the present invention, the vehicle driving assist system further includes a third detection unit for detecting a current motion parameter of the vehicle, a current position of the vehicle, and positions of the respective energy supply devices, and the control unit predicts a motion trajectory of the vehicle based on a detection result of the third detection unit, and determines the target energy supply device and the initial parking position of the vehicle according to the predicted motion trajectory.

According to another embodiment of the present invention, the vehicle driving assist system further includes an output unit that prompts a driver of the vehicle when the control unit determines that the target energy supply device and the energy input port of the vehicle are located on opposite sides of the vehicle with the vehicle located at the initial parking position.

According to another embodiment of the present invention, when the control unit determines that the target energy supply device and the energy input port of the vehicle are located on opposite sides of the vehicle with the vehicle located at the initial parking position, the control unit calculates a final parking position of the vehicle, which is a position where the vehicle performs energy input, based on the current traffic condition within the energy supply area and the current position of the vehicle, and at which the target energy supply device and the energy input port of the vehicle are located on the same side of the vehicle.

According to another embodiment of the present invention, wherein the output unit assists the driver in parking the vehicle at the final parking position in one or more of the following ways: displaying the final parking position and/or the path to the final parking position on a display; assisting the driver in driving the vehicle acoustically or tactilely; and alerting the driver after the vehicle reaches the final parking location.

According to another embodiment of the present invention, the vehicle driving assist system further includes an automatic parking unit for automatically controlling the vehicle to be parked at the final parking position.

According to another aspect of the present invention, there is provided a vehicle including the vehicle driving assist system of any of the embodiments described above.

According to still another aspect of the present invention, there is provided a driving assistance method for a vehicle for assisting a driver in parking the vehicle at a position of an energy supply area where energy input is performed, the energy supply area being provided with at least one energy supply device, the method comprising the steps of: detecting whether the vehicle enters the energy supply area; detecting a location of an energy input port of the vehicle on the vehicle; and determining a target energy supply device of the vehicle and an initial parking position of the vehicle from the at least one energy supply device, and determining whether the target energy supply device and the energy input port of the vehicle are located on the same side or opposite sides of the vehicle in a case where the vehicle is located at the initial parking position.

Thus, according to the vehicle driving assist system, the vehicle, and the vehicle driving assist method of the above embodiments, it is possible to assist the driver in parking the vehicle at an appropriate position in the energy supplement area when supplementing energy to the vehicle, so as to facilitate connection of the vehicle with the energy supply device. In addition, since the vehicle driving assistance method can determine the final stop position of the vehicle when the vehicle is about to stop, the driver can be prevented from adjusting the vehicle position again after stopping, and complicated driving operation is avoided. In addition, the above-described vehicle driving assist system can determine an appropriate parking position for the vehicle and a path to reach the appropriate parking position in the case where the vehicle undesirably parks (causes the energy input port of the vehicle and the target energy supply apparatus to be located on opposite sides of the vehicle), facilitating the driver to adjust the position of the vehicle.

Drawings

Features, advantages and technical effects of exemplary embodiments of the present invention will be described below with reference to the accompanying drawings, in which like reference numerals represent like elements, and wherein:

FIG. 1 shows a simplified block diagram of a vehicle according to one embodiment of the present invention;

FIG. 2 illustrates a vehicle driving assistance system according to one embodiment of the present invention; and

fig. 3 shows a flowchart of a driving assistance method for vehicle according to an embodiment of the invention.

Detailed Description

Hereinafter, embodiments of the present invention are described with reference to the drawings. The following detailed description and drawings are illustrative of the principles of the invention, which is not limited to the preferred embodiments described, but is defined by the claims.

The vehicle driving assist system according to the embodiment of the invention may be mounted on or applied to a vehicle to assist a driver in parking the vehicle at a suitable energy input position when the vehicle is replenished with energy. The vehicle may be an internal combustion engine vehicle using fuel as an energy source, an electric vehicle using electric power as an energy source, a hybrid vehicle using fuel and electric power as an energy source, or the like.

FIG. 1 shows a simplified block diagram of a vehicle according to one embodiment of the present invention. The vehicle 100 may include a propulsion system 102, a sensor system 104, a steering system 106, an input-output system 108, and a control device 110, among other things.

The propulsion system 102 includes an engine/motor, a power source, a transmission, wheels, etc., for imparting motion to the vehicle 100. The engine/motor includes, but is not limited to, any one or combination of an internal combustion engine, an electric motor, a steam engine, and a stirling engine. In some examples, the propulsion system may include multiple types of engines and/or motors. For example, a gas-electric hybrid vehicle may include a gasoline engine and an electric motor. The vehicle 100 uses different types of energy sources corresponding to different types of engines/motors, including gasoline, diesel, other petroleum fuels, propane, compressed gas-based fuels, ethanol, solar panels, batteries, and other power sources, among others.

The sensor system 104 may include a variety of sensors configured to detect information about the environment in which the vehicle 100 is located. As shown in fig. 1, the sensor system 104 may include a global positioning system module, a radio detection and ranging (RADAR) module, a laser rangefinder and/or light detection and ranging (LIDAR) module, a camera, and/or the like.

The GPS module may be any sensor configured to detect the geographic location of the vehicle 100. For example, the GPS module may be configured to estimate the position of the vehicle 100 relative to the earth based on satellite positioning data. The RADAR module may be considered an object detection system configured to determine characteristics such as distance, height, direction, and speed of an object using radio waves. The RADAR module may be configured to emit radio waves or microwaves towards the object and receive radio waves or microwaves reflected back by the object. The RADAR module may also be configured to perform digital signal processing on the received signals (reflected back by the object) and may be configured to identify the object.

The LIDAR module may include a sensor configured to detect objects in the environment in which the vehicle 100 is located with light. In general, a LIDAR module may be an optical remote sensing technique that measures the distance or other properties of a target by illuminating the target with light. The LIDAR module may also be configured to image objects using ultraviolet, visible, or infrared light, and may be used for a variety of targets, including non-metallic objects. In addition, a narrow laser beam can be used to map physical features of an object with high resolution.

The camera may be any camera configured to capture images of the environment in which the vehicle 100 is located, such as a still camera, a video camera, and the like. The camera may be configured to detect visible light or to detect light in other parts of the spectrum, such as infrared or ultraviolet light. The camera may be a two-dimensional detector or may also have a three-dimensional spatial extent. In some embodiments, the camera may also produce a two-dimensional image that indicates the distance from the camera to a plurality of points in the environment. Using computer vision and image processing techniques, the camera may identify objects around the vehicle and obtain distance information between the objects and the vehicle.

In addition, the sensor system 104 may also include internal sensors that detect a motion parameter of the vehicle 100. The internal sensors may include a steering angle sensor that measures a steering angle of the vehicle 100, a speed sensor that measures a speed of the vehicle 100, an acceleration sensor that measures an acceleration of the vehicle 100, a brake sensor that measures an operation amount applied to a brake pedal, and the like.

The operating system 106 may include a steering unit, valves, and a brake unit. By the steering system 106, the traveling direction, speed, acceleration, deceleration, and the like of the vehicle 100 can be controlled.

The input-output system 108 may include a voice input device such as a button, a touch screen, a microphone, and the like for inputting various operations of the user, and a display, a speaker, a vibrator, and the like for outputting various warnings, prompts, and other information.

The control device 110 may include a processor and a memory. The processor may include one or more general-purpose processors and/or one or more special-purpose processors (e.g., image processors, digital signal processing, etc.). The memory may include one or more volatile and/or one or more non-volatile memories. The memory may be integrally formed with the processor or separately formed. The memory may contain instructions that are executed by the processor to perform various functions. The memory may also store map data, vehicle own structure data, and the like.

The components of the vehicle 100 may be configured to operate in an interconnected manner with components in various systems. The connection means may include a system bus, a network, and/or other connection means. For example, the control device 110 may be configured to receive information from and control the propulsion system 102, the sensor system 104, the steering system 106, and the input-output system 108. In other examples, the vehicle 100 may include more, fewer, or different systems, and each system may include more, fewer, or different components. In addition, the systems and components shown may be combined or separated in various ways.

Fig. 2 shows a driving assistance system 200 for vehicle according to an embodiment of the invention. The vehicle driving assist system 200 may be installed or applied in a vehicle such as the vehicle 100 in the above-described embodiment. As shown in fig. 2, the driving assistance system 200 for vehicle may include a first detection unit 202, a second detection unit 204, and a control unit 206. In the exemplary embodiment, vehicle driving assistance system 200 also includes a third detection unit 208. In yet another exemplary embodiment, the driving assistance system 200 for vehicle further includes an output unit 210. In yet another exemplary embodiment, the driving assistance system 200 for vehicle further includes a fourth detection unit 212. In yet another exemplary embodiment, the vehicle driving assistance system 200 further includes an automatic parking unit 214. The communication connections between the respective units of the vehicle driving assistance system 200, for example, the control unit 206 may acquire information from the respective detection units, and may transmit the information to the output unit 210 and the automatic parking unit 214.

The first detection unit 202 may be configured to detect whether the vehicle enters the energy supply area.

Herein, the energy supply area is a place where the vehicle is supplied with energy. The energy supply area includes, but is not limited to, a fuel supply area for supplying fuel to the vehicle and an electric power supply area for charging the vehicle. The fuel supply area is a gas station and the electricity supply area may be a public charging station, a private parking lot, etc. At least one energy supply device is usually arranged in the energy supply region. The energy supply device is a device that can be connected to a vehicle and input energy to the vehicle, including but not limited to a fuel supply device and an electric power supply device. The fuel refilling device is used to input fuel to the vehicle, which may be, for example, gasoline, diesel, other petroleum fuels, propane, compressed gas based fuels, ethanol, etc. The fuel supply apparatus includes, for example, fuel dispensers provided in gas stations. The power supply apparatus is used to charge the vehicle. The power supply apparatus includes, for example, a charging pile provided in a charging station or a parking lot.

Further, herein, the vehicle enters the energy supply area, including a case where the vehicle enters within a boundary of the energy supply area determined according to its actual floor space, and also including a case where the vehicle enters within a predetermined range outside the boundary of the energy supply area. The predetermined range may be, for example, a range of 5m or less or 10m or less outside the boundary of the energy supply region. The value of the predetermined range may be set as an empirical value or may be changed by machine learning. Taking a gas station as an example, a vehicle entering a gas station includes a situation where the vehicle enters within the actual footprint of the gas station, and also includes a situation where the vehicle enters a road within a predetermined range outside the actual footprint of the gas station.

The first detection unit 202 may determine whether the vehicle enters the energy supply area by acquiring data of an environment in which the vehicle is located, and identifying whether the energy supply area exists in the environment based on the acquired data.

For example, the first detection unit 202 may acquire an image of an environment in which the vehicle is located, and recognize whether or not an energy supply area exists in the acquired image to determine whether or not the vehicle enters the energy supply area. The first detection unit 202 may acquire an image of the environment through a camera or other image acquisition device of the vehicle 100 as described above. The image pickup device may be installed at the upper center of a front windshield of the vehicle to pick up a front image of the vehicle. The image capturing devices may also be installed at the left, right, and rear sides of the vehicle to capture left, right, and rear side images of the vehicle. The first detection unit 202 may identify whether or not an energy supply area exists in the acquired image using image processing techniques such as computer vision and image recognition. For example, the first detection unit 202 may recognize a mark (shape, color, specific symbol, specific pattern, specific letter, or the like) related to the energy supply area or the energy supply device from the image, thereby recognizing the energy supply area. In the case where the energy supply area is recognized from the image, the first detection unit 202 determines that the vehicle enters the energy supply area.

Further, the first detection unit 202 may also determine whether the vehicle enters the energy supply area by the relative positional relationship between the vehicle and the energy supply area. When the vehicle is within the boundary of the energy supply area or within a predetermined range outside the boundary of the energy supply area, the first detection unit 202 determines that the vehicle enters the energy supply area. The first detection unit 202 may employ any one or a combination of a camera, a RADAR module, a LIDAR module as described above to measure the distance between the vehicle and the energy supply area and/or the energy supply device to determine the relative positional relationship of the vehicle and the energy supply area. In addition, the first detection unit 202 may also acquire the geographic position of the vehicle and the energy supply area near the vehicle by using the GPS module as described above to determine the relative positional relationship of the vehicle and the energy supply area.

The first detection unit 202 may also be configured to acquire data of the environment in which the vehicle is located using a sensor system, a memory, a network connected to an external device, and the like of the vehicle in other ways, and determine whether the vehicle enters the energy supply area based on the acquired data.

The second detection unit 204 may be configured to detect a location of an energy input port of the vehicle on the vehicle. The energy input port of the vehicle is used for connecting with energy supply equipment so as to input energy into the vehicle. For example, energy input ports include, but are not limited to, a fuel filler port for insertion of a fuel gun of a fuel dispenser, and a charging port for insertion of a charging gun of a charging post. Specifically, the second detection unit 204 may be configured to detect whether the energy input port is located on the left side or the right side of the vehicle body. For example, the second detection unit 204 may acquire the position of the energy input port on the vehicle from the vehicle own-structure information stored in the memory of the vehicle.

The control unit 206 is configured to determine a target energy supply device of the vehicle from the at least one energy supply device and to determine an initial parking position of the vehicle. The control unit 206 may also determine whether the target energy supply apparatus and the energy input port of the vehicle are located on the same side or opposite sides of the vehicle in a case where the vehicle is located at the initial parking position. Wherein the control unit 206 may acquire the position of the energy input port of the vehicle from the second detection unit 204.

According to an embodiment of the present invention, the control unit 206 determines the target energy supply apparatus and the initial parking position of the vehicle in a state where the vehicle has parked at a certain energy supply apparatus. In this case, the target energy supply apparatus is the energy supply apparatus closest to the vehicle, and the initial parking position is the current position of the vehicle.

In an exemplary embodiment, the control unit 206 may determine whether the vehicle has stopped near a certain energy supply apparatus by the state of motion of the vehicle, the position of the vehicle relative to the boundary of the energy supply area, the state of the engine, the handbrake, the shifter, and the like of the vehicle. Determining that the vehicle has been parked at a certain energy supply apparatus when one or more of the following conditions are satisfied: the vehicle is within the boundaries of the energy supply area and the position does not change for more than a predetermined length of time; the engine of the vehicle is flamed out, the hand brake is pulled up or the gear shifter is in neutral and exceeds a preset time; and the minimum distance from the vehicle body to a certain energy supply device is less than a predetermined value. The conditions for determining whether the vehicle has parked at a certain energy device are not limited to the above-listed conditions, and those skilled in the art will appreciate that other suitable conditions may also be employed. Any one or any combination of the above listed conditions or other suitable conditions may be used to determine whether the vehicle has parked at a certain energy device.

After determining the target energy supply device and the initial parking position, the control unit 206 may determine whether the target energy supply device and the energy input port of the vehicle are located on the same side or opposite sides of the vehicle in a case where the vehicle is located at the initial parking position (specifically, in a case where the vehicle is at the current position).

According to still another embodiment of the present invention, the control unit 206 may determine the target energy supply device and the initial parking position of the vehicle when the vehicle is about to park at a certain energy supply device.

In an exemplary embodiment, the control unit 206 may determine whether the vehicle is about to stop at a certain energy supply apparatus based on a motion state of the vehicle, a position of the vehicle relative to the energy supply area, and the like. It may be determined that the vehicle is about to stop at a certain energy supply apparatus when one or more of the following conditions are satisfied: the vehicle gradually approaches the boundary of the energy supply area; the vehicle has entered the boundary of the energy supply area but has not yet stopped; and the vehicle position does not change for a predetermined time but other vehicles are present in the vicinity of each energy supply apparatus. The conditions for determining whether the vehicle is about to stop at a certain energy device are not limited to the above listed conditions, and those skilled in the art will appreciate that other suitable conditions may also be employed. Any one or any combination of the above listed conditions or other suitable conditions may be used to determine whether the vehicle is about to park at some energy device.

Specifically, the control unit 206 may determine the target energy supply apparatus and the initial parking position based on the current motion parameter of the vehicle, the current position of the vehicle, and the positions of the respective energy supply apparatuses. For example, the control unit 206 may predict the motion trajectory of the vehicle based on the current motion parameters of the vehicle and the current position of the vehicle. Specifically, from the turning radius of the vehicle and the steering angle information of the steering wheel (or wheels), the straight or circular arc-shaped moving direction of the vehicle can be predicted; from the speed and acceleration information of the vehicle, the position of the vehicle along the direction, at each instant in a short time in the future, and the position when the speed drops to 0, i.e., the expected parking position, can be predicted according to newton's law of motion. The initial parking position is an expected parking position of the vehicle, and the target energy supply device is the energy supply device closest to the expected parking position. Further, the control unit 206 may determine whether the target energy supply apparatus and the energy input port of the vehicle are located on the same side or opposite sides of the vehicle in a case where the vehicle is located at the initial parking position.

In some embodiments, the current motion parameters of the vehicle, the current location of the vehicle, and the location of each energy supply device may be acquired by the third detection unit 208 of the driving assistance system 200. The third detection unit 208 may acquire the current motion parameters of the vehicle using an internal sensor mounted on the vehicle. For example, the third detection unit 208 may acquire parameters such as a moving direction, a speed, an acceleration, a brake operation amount, and the like of the vehicle from a steering angle sensor, a speed sensor, an acceleration sensor, a brake sensor, and the like. Furthermore, the third detection unit 208 may acquire data of the environment in which the vehicle is located, identify each energy supply device from the acquired data, and determine the location thereof. For example, the third detection unit 208 may acquire an image of an environment in which the vehicle is located by using a camera or other image acquisition device, and identify each energy supply apparatus in the image through an image processing technology. The third detection unit 208 may also determine the location of each energy supply apparatus using a distance detection technique of a camera. Furthermore, the third detection unit 208 may also identify and determine the location of the respective energy supply device in conjunction with the RADAR module and/or the LIDAR module as previously described. In addition, the third detection unit 208 may utilize data of the environment in which the vehicle is located, acquired by a camera, a RADAR module, a LIDAR module, a GPS module, or the like, to determine the current location of the vehicle.

When the control unit 206 determines that the target energy supply device and the energy input port are located on opposite sides of the vehicle with the vehicle located at the initial parking position, the driver of the vehicle is prompted. The vehicle-driving assistance unit 200 may include an output unit 210 to output the above prompts. The output unit 210 may include, for example, a display screen, a speaker, a vibrator, etc. of the vehicle 100 as described above, and thus may prompt the driver in a visual, acoustic, tactile, or the like manner.

Further, when the control unit 206 determines that the target energy supply device and the energy input port are located on opposite sides of the vehicle with the vehicle located at the initial parking position, the control unit 206 may also calculate a final parking position of the vehicle based on the current traffic condition within the energy supply area and the current position of the vehicle.

The current traffic situation in the energy supply area can be represented by objects in the energy supply area and a plurality of parameters of the respective objects. The current traffic condition in the energy supply area as described herein includes the current traffic condition in an area within the boundary of the energy supply area, and also includes the current traffic condition in an area within a predetermined range outside the boundary of the energy supply area. The object includes an energy supply device, other vehicles, pedestrians (including workers), roads, buildings, and the like. The parameters of the object include the position, shape and size of stationary objects such as energy supply equipment and buildings, the position, shape, size and traffic markings of roads, and the position, shape, size, movement speed and movement direction of other vehicles and pedestrians. The vehicle driving assistance system 200 may include a fourth detection unit 212 to detect a current traffic condition in the energy supply area. Specifically, the fourth detection unit 212 may acquire data of an environment in which the vehicle is located, and identify objects within the energy supply area based on the acquired data, and determine a plurality of parameters of the respective objects. For example, the fourth detection unit 212 may acquire an image of the environment in which the vehicle is located, and identify objects in the image by image processing techniques, and determine a plurality of parameters for each object. The fourth detection unit 212 may also identify objects in the environment of the vehicle and determine a plurality of parameters thereof by means of a RADAR module, a LIDAR module, or the like, as described above. The fourth detection unit 212 may be a separate detection unit, or may be implemented by all or a part of the first detection unit 202 and/or the third detection unit 208.

The final parking position is a position where the vehicle performs energy input, and at the final parking position, the energy input port of the vehicle is located on the same side of the vehicle as the target energy supply apparatus. Furthermore, the final parking position is also a position that the vehicle can reach without interfering with objects in the environment based on the current traffic conditions within the energy supply area. The target energy supply device is the energy supply device closest to the final parking position.

The control unit 206 may first determine the energy supply device in the idle state according to the usage of each energy supply device. The control unit 206 may determine whether it is in an idle state by whether a vehicle is present at each energy supply apparatus.

Then, the control unit 206 may generate a preset parking position at the idle energy supply device, and determine whether the energy input port is located on the same side of the vehicle as the idle energy supply device in a case where the vehicle is located at the preset parking position. The control unit 206 selects an idle energy supply apparatus of which the energy input port of the vehicle is located on the same side of the vehicle as the idle energy supply apparatus in a case where the vehicle is located at the preset parking position. Also, the control unit 206 may determine whether the vehicle can travel to a preset parking position at the selected energy supply apparatus without interfering with objects in the environment based on the current traffic condition. The control unit 206 takes a preset parking position that the vehicle can reach as a final parking position, and takes the energy supply apparatus closest to the final parking position as a target energy supply apparatus.

In an exemplary embodiment, the control unit 206 may select an idle energy supply device located on the same side as the input port of the vehicle in the traveling direction of the vehicle. The control unit 206 may generate a preset stop position at the selected idle energy supply device and determine whether the vehicle can travel to the preset stop position without interference with objects in the environment based on the current traffic condition. Similarly, the control unit 206 takes a preset parking position that the vehicle can reach as a final parking position, and takes the energy supply apparatus closest to the final parking position as a target energy supply apparatus.

Thus, the control unit 206 can determine the final parking position based on the current traffic conditions and the current position of the vehicle within the energy supply area in combination with the position of the energy input port. The determined final parking position may be one or more. In case a plurality of final parking positions is determined, the control unit 206 may select a preferred final parking position according to a predetermined priority rule. Furthermore, the control unit 206 may also plan a path for the vehicle to reach the determined final parking position.

The control unit 206 may send the determined final parking position and/or the planned path to the output unit 210. The output unit 210 outputs the received final parking position and/or the path to the final parking position to assist the driver in parking the vehicle at the final parking position. Specifically, the output unit 210 may output in one or more of the following ways: displaying the final parking position and/or the path to the final parking position on the display; assisting a driver in driving the vehicle in an audible or tactile manner; and alerting the driver after the vehicle reaches the final stop position. The output unit 210 may also output in other suitable manners.

Thus, according to the vehicle driving assist system of the above embodiment, it is possible to assist the driver in parking the vehicle at an appropriate position of the energy charging area when the vehicle is charged with energy, so as to facilitate connection of the vehicle with the energy supply device. In addition, the vehicle driving assistance system can determine the final parking position of the vehicle when the vehicle is about to park, can avoid the driver from adjusting the position of the vehicle again after parking, and avoids complex driving operation. In addition, the above-described vehicle driving assist system can provide the vehicle with an appropriate parking position and a path to the parking position after the vehicle undesirably parks (the energy input port of the vehicle and the target energy supply apparatus are located on opposite sides of the vehicle), facilitating the driver to adjust the position of the vehicle.

According to some embodiments, the vehicle driving assistance system 200 may further include an automatic parking unit 214. The automatic parking unit 214 may acquire a path to the final parking position from the control unit 206 or the output unit 210 to automatically control the vehicle to be parked at the final parking position. The automatic parking unit 214 controls the motion of the vehicle by controlling valves, steering devices, an accelerator, a brake, a propeller shaft, and the like of the vehicle.

According to some embodiments, the driving assistance system 200 may continuously or periodically detect whether the vehicle enters the energy supply area during the driving of the vehicle through the first detection unit 202 to trigger the operation of the other units of the driving assistance system 200. According to some embodiments, the vehicle driving assistance system 200 may include a triggering device by which a user of the vehicle may trigger operation of the vehicle driving assistance system 200. The triggering device may be a button, a touch screen, a voice input device, etc. of the vehicle 100 as described above.

In addition, although the vehicle driving support system described above is provided with a plurality of detection units, these detection units may be formed as a single detection unit.

A driving assistance method for vehicle according to an embodiment of the invention will be described below with reference to the drawings. Fig. 3 shows a flowchart of a driving assistance method for vehicle according to an embodiment of the invention.

As shown in fig. 3, in step S302, it is detected whether the vehicle enters the energy supply area. This step may be implemented by acquiring data of an environment in which the vehicle is located, and determining whether or not an energy supply area exists in the environment based on the acquired data. Specifically, an image of an environment in which the vehicle is located may be acquired, and whether an energy supply area exists in the image may be identified using image processing techniques such as computer vision and image recognition to detect whether the vehicle enters the energy supply area. Whether the vehicle enters the energy supply area may also be detected by the relative positional relationship between the vehicle and the energy supply area in the vicinity of the vehicle.

If it is detected in step S302 that the vehicle does not enter the energy supply area, the method repeats step S302 to continue detecting whether the vehicle enters the energy supply area. If it is detected in step S302 that the vehicle enters the energy supply area, the method proceeds to step S304.

In step S304, the position of the energy input port of the vehicle on the vehicle is detected. Specifically, whether the energy input port of the vehicle is located on the left side or the right side of the vehicle body is detected. The position of the energy input port of the vehicle on the vehicle may be acquired from the vehicle own-structure information stored in the memory of the vehicle.

In step S306, a target energy supply device of the vehicle is determined from the at least one energy supply device and an initial parking position of the vehicle is determined.

According to one embodiment, first in step S3061, it is determined whether the vehicle has parked or is about to park at some energy supply device. The judgment conditions for each of the above cases are described in the foregoing, and are not described in detail here.

If it is determined that the vehicle has stopped at a certain energy supply apparatus, the process proceeds to step S3062, and at step S3062, the current position of the vehicle is determined as the initial stopping position, and the energy supply apparatus closest to the vehicle is determined as the target energy supply apparatus.

If it is determined that the vehicle is about to stop at a certain energy supply apparatus, the flow proceeds to step S3063. In step S3063, the current movement parameters of the vehicle, the current position of the vehicle, and the positions of the respective energy supply apparatuses are detected, and the target energy supply apparatus and the initial parking position are determined based on the detection results. Specifically, the motion trajectory of the vehicle may be predicted from the current motion parameters of the vehicle and the current position of the vehicle, and an expected parking position of the vehicle (a position where the speed of the vehicle will be zero) determined from the motion trajectory of the vehicle is determined as the initial parking position, and the energy supply apparatus closest to the expected parking position is determined as the target energy supply apparatus.

In step S308, after the target energy supply device and the initial parking position are determined, it is determined whether the target energy supply device and the energy input port of the vehicle are located on the same side or opposite sides of the vehicle in a case where the vehicle is located at the initial parking position.

If it is determined in step S308 that the target energy supply apparatus and the energy input port of the vehicle are located on the same side of the vehicle with the vehicle at the initial parking position, it proceeds to step S310. In step S310, the driver is prompted that energy input is available.

If it is determined in step S308 that the target energy supply apparatus and the energy input port of the vehicle are located on opposite sides of the vehicle with the vehicle at the initial parking position, the process proceeds to step S312. The driver is prompted for this in step S312.

After the driver is reminded, the process may also proceed to step S314. In step S314, a final stop position of the vehicle is calculated based on the current traffic condition within the energy supply area and the current position of the vehicle. Wherein the final parking position is a position at which the vehicle performs energy input, and at the final parking position, the energy input port of the vehicle is located on the same side of the vehicle as the target energy supply apparatus. Furthermore, the final parking position is a position that the vehicle can reach without interfering with objects in the environment based on the current traffic conditions within the energy supply area. The target energy supply device is the energy supply device closest to the final parking position. In addition, a path for the vehicle to reach the determined final parking position can also be planned in step S314. The method may also proceed directly to step S314 without going through step S312.

In step S316, the determined final parking position and/or the path to the final parking position is output.

Further, the driving assistance method for vehicle according to the above-described embodiment may further include the step of automatically controlling the vehicle to stop at the final stop position. In which the motion of the vehicle is controlled by automatically controlling valves, steering, accelerator, brake, propeller shaft, etc. of the vehicle.

Further, the driving assistance method for vehicle according to the above-described embodiment may further include the step of triggering the method by a triggering device. The triggering device may be a button, a touch screen, a voice input device, etc. of the vehicle 100 as described above.

Thus, according to the vehicle driving assist method of the above embodiment, it is possible to assist the driver in parking the vehicle at an appropriate position of the energy charging area when the vehicle is charged with energy, so as to facilitate connection of the vehicle with the energy supply device. In addition, since the vehicle driving assistance method can determine the final stop position of the vehicle when the vehicle is about to stop, the driver can be prevented from adjusting the vehicle position again after stopping, and complicated driving operation is avoided. Further, the above-described vehicle driving assist system can determine an appropriate parking position and a path to reach the appropriate parking position for the vehicle in the case where the vehicle undesirably parks (the energy input port of the vehicle and the target energy supply apparatus are located on opposite sides of the vehicle), facilitating the driver to adjust the position of the vehicle.

While the invention has been described with reference to exemplary embodiments, it is to be understood that the invention is not limited to the construction and methods of the embodiments described above. On the contrary, the invention is intended to cover various modifications and equivalent arrangements. In addition, while the various elements and method steps of the disclosed invention are shown in various example combinations and configurations, other combinations, including more, less or all, of the elements or methods are also within the scope of the invention.

Claims

1. A vehicle driving assist system for assisting a driver in parking a vehicle at a position of an energy supply area where energy input is performed, the energy supply area being provided with at least one energy supply device, the system comprising:

a first detection unit for detecting whether the vehicle enters the energy supply area;

a second detection unit for detecting a position of an energy input port of the vehicle on the vehicle; and

a control unit for determining a target energy supply apparatus of the vehicle from the at least one energy supply apparatus and determining an initial parking position of the vehicle, the control unit further determining whether the target energy supply apparatus and the energy input port of the vehicle are located on the same side or opposite sides of the vehicle in a case where the vehicle is located at the initial parking position.

2. The vehicular drive assist system according to claim 1, further comprising

A third detection unit for detecting a current motion parameter of the vehicle, a current position of the vehicle, and positions of the respective energy supply devices, and

the control unit predicts a movement locus of the vehicle based on a detection result of the third detection unit, and determines the target energy supply device and the initial parking position of the vehicle according to the predicted movement locus.

3. The vehicular drive assist system according to claim 1 or 2, further comprising

An output unit that prompts a driver of the vehicle when the control unit determines that the target energy supply apparatus and the energy input port of the vehicle are located on opposite sides of the vehicle with the vehicle located at the initial parking position.

4. The vehicular drive assist system according to claim 1 or 2, wherein

When the control unit determines that the target energy supply device and the energy input port of the vehicle are located on opposite sides of the vehicle with the vehicle located at the initial parking position, the control unit calculates a final parking position of the vehicle, which is a position where the vehicle performs energy input, based on current traffic conditions within the energy supply area and a current position of the vehicle, and at which the target energy supply device and the energy input port of the vehicle are located on the same side of the vehicle.

5. The vehicular drive assist system according to claim 3, wherein

6. The vehicular drive assist system according to claim 5, wherein

The output unit assists the driver in parking the vehicle at the final parking position in one or more of the following ways:

displaying the final parking position and/or the path to the final parking position on a display;

assisting the driver in driving the vehicle acoustically or tactilely; and

alerting the driver after the vehicle reaches the final parking location.

7. The vehicular drive assist system according to claim 5 or 6, further comprising:

an automatic parking unit for automatically controlling the vehicle to be parked at the final parking position.

8. A vehicle comprising the vehicular drive assist system according to any one of claims 1 to 7.

9. A vehicle driving assist method for assisting a driver in parking a vehicle at a position of an energy supply area where energy input is performed, the energy supply area being provided with at least one energy supply device, the method comprising the steps of:

detecting whether the vehicle enters the energy supply area;

detecting a location of an energy input port of the vehicle on the vehicle; and

determining a target energy supply device of the vehicle and an initial parking position of the vehicle from the at least one energy supply device, and determining whether the target energy supply device and the energy input port of the vehicle are located on the same side or opposite sides of the vehicle in a case where the vehicle is located at the initial parking position.

10. The vehicular drive assist method according to claim 9, further comprising the steps of:

detecting the current movement parameters of the vehicle, the current position of the vehicle and the position of the respective energy supply device, an

Predicting a movement locus of the vehicle based on the detection result, and determining a target energy supply device and the initial parking position of the vehicle according to the predicted movement locus.

11. The vehicular drive assist method according to claim 9 or 10, further comprising the steps of:

prompting a driver of the vehicle when it is determined that the target energy supply apparatus and the energy input port of the vehicle are located on opposite sides of the vehicle with the vehicle located at the initial parking position.

12. The vehicular drive assist method according to claim 9 or 10, further comprising the steps of:

when it is determined that the target energy supply device and the energy input port of the vehicle are located on opposite sides of the vehicle with the vehicle located at the initial parking position, a final parking position of the vehicle is calculated based on the current traffic condition within the energy supply area and the current position of the vehicle, wherein the final parking position is a position at which the vehicle performs energy input, and the target energy supply device and the energy input port of the vehicle are located on the same side of the vehicle with the vehicle located at the final parking position.

13. The vehicular drive assist method according to claim 11, further comprising the steps of:

14. The vehicular drive assist method according to claim 13, further comprising the steps of:

assisting a driver in parking the vehicle at the final parking position in one or more of the following ways:

displaying the final parking position and/or a driving track reaching the final parking position on a display;

assisting the driver in driving the vehicle acoustically or tactilely; and

alerting the driver after the vehicle reaches the final parking location.

15. The vehicular drive assist method according to claim 13 or 14, further comprising the steps of:

automatically controlling the vehicle to be parked at the final parking position.