CN108609010A - Parking aid, vehicle and parking assist method - Google Patents
Parking aid, vehicle and parking assist method Download PDFInfo
- Publication number
- CN108609010A CN108609010A CN201611147101.7A CN201611147101A CN108609010A CN 108609010 A CN108609010 A CN 108609010A CN 201611147101 A CN201611147101 A CN 201611147101A CN 108609010 A CN108609010 A CN 108609010A
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- parking
- region
- vacancy
- size
- vehicle
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- 238000000034 method Methods 0.000 title claims abstract description 13
- 238000001514 detection method Methods 0.000 claims description 14
- 238000003384 imaging method Methods 0.000 claims description 4
- NBIIXXVUZAFLBC-UHFFFAOYSA-N Phosphoric acid Chemical group OP(O)(O)=O NBIIXXVUZAFLBC-UHFFFAOYSA-N 0.000 claims description 3
- 230000003190 augmentative effect Effects 0.000 claims description 3
- 239000011521 glass Substances 0.000 claims description 3
- 230000003287 optical effect Effects 0.000 claims description 2
- 238000010586 diagram Methods 0.000 description 8
- 239000000428 dust Substances 0.000 description 2
- 230000004888 barrier function Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/06—Automatic manoeuvring for parking
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
- B60W2050/146—Display means
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Traffic Control Systems (AREA)
Abstract
This application discloses a kind of parking aid, vehicle and parking assist method, the parking aid includes：Acquiring unit is configured to obtain the boundary information of the object of itself vehicle periphery；Computing unit, it is connect with the acquiring unit, it is configured to determine parking region and parking mode according to the boundary information that acquiring unit obtains, and obtain the size S in parking region, then the quotient m=S/Sd of the size S divided by scheduled parking size Sd in parking region are calculated, and m is taken as the Integer n no more than m, if n is greater than or equal to 2, computing unit is further configured to parking region being averagely divided into n parking vacancy；And output interface, it is connect with computing unit, n parking vacancy information being configured as output in the parking region calculated by computing unit.The parking aid can optimize distribution to the parking vacancy in parking region, enable to park vehicle as much as possible.
Description
Technical field
The present invention relates to a kind of parking aid and with the vehicle of the parking aid, the invention further relates to one
Kind parking assist method.
Background technology
Vehicle is generally fitted provided with automatic parking auxiliary system in the prior art, is mainly detected according to sensor
Information, the image information of camera shooting and pilot control information are adjusted the state of vehicle, make vehicle in parking
A parking vacancy is found in region, to assist driver by vehicle parking in the parking vacancy.
However, in many cases, since the regions such as roadside, residential quarter do not have parking stall line or parking stall line by sleet, dust
Covering, or due to insufficient light causes driver that can not see parking stall line etc. so that the automatic parking system of vehicle
Or driver can not the parking stall line of reference ground select suitable parking vacancy.That is, only by vehicle parking at some
It not enough, if more vehicles can be parked in parking region originally, and is led since the selection of parking vacancy is improper in parking vacancy
It causes other vehicles to be unable to parking then can greatly to waste with the quantity of parking less than script to the parking region or parking quantity
Space resources.Therefore, for the increasing city of car ownership, how to optimize parking vacancy and become and urgently solve
Certainly the problem of.
Invention content
In consideration of it, the present invention is intended to provide a kind of parking aid, can at least assist user by vehicle be parked in compared with
For suitable parking vacancy.
According to the first aspect of the invention, a kind of parking aid is provided comprising：Acquiring unit is configured to
Obtain the boundary information of the object of itself vehicle periphery；Computing unit is connect with the acquiring unit, is configured to according to
The boundary information that acquiring unit obtains determines parking region and parking mode, and obtains the size S in the parking region, then counts
The quotient m=S/Sd of the size S divided by scheduled parking size Sd in the parking region are calculated, and m is taken as the Integer n no more than m,
If n is greater than or equal to 2, the computing unit is further configured to the parking region being averagely divided into n parking sky
Position；And output interface, it connect, is configured as output in the parking region calculated by the computing unit with the computing unit
N parking vacancy information.
In some embodiments, when the parking mode is vertical parking, the scheduled parking size Sd is scheduled stays
Vehicle-width Wp, the computing unit calculate the quotient m=S/Wp of the size S divided by scheduled parking width Wp in the parking region.
In some embodiments, when the parking mode is parallel parking, the scheduled parking size Sd is scheduled stays
Vehicle commander's degree Lp, the computing unit calculate the quotient m=S/Lp of the size S divided by scheduled parking length Lp in the parking region.
Preferably, the parking aid further includes display device, and the display device is connect with the output interface,
It is shown as empty for showing the n parking vacancy exported by the output interface, and by the boundary between n parking vacancy
Quasi- parking stall line, in order to which user can be readily selected any one parking vacancy parking according to these virtual parking stall lines.
Preferably, the display device is connected to automatic parking auxiliary system, is selected in order to automatic parking to user
Parking vacancy.
Optionally, the display device is intelligent display, include the front windshield projected by augmented reality,
Any one in wearable intelligent glasses or multimedia display screen.
Preferably, the parking aid further includes detection device, and the detection device is connect with the acquiring unit,
It is configured to the boundary of the object of detection vehicle periphery.
Optionally, the detection device is in sonac, radar sensor, laser sensor or imaging sensor
One or more of combinations.
According to the second aspect of the invention, a kind of vehicle is additionally provided, with parking aid as described above.
According to the third aspect of the invention we, a kind of parking assist method is additionally provided, it is auxiliary for parking as described above
Device is helped, is included the following steps：Detect the boundary of the object around vehicle；Obtain the boundary of the object of itself vehicle periphery
Information；Parking region and parking mode are determined based on the boundary information, and obtain the size S in the parking region；Calculate institute
The quotient m=S/Sd of the size S divided by scheduled parking size Sd in parking region are stated, and parking number m is taken as the integer no more than m
n；If m is greater than or equal to 2, the parking region is averagely divided into n parking vacancy；It will be in the parking region of acquisition
Boundary between n parking vacancy is shown as virtual parking stall line, so that user therefrom selects any one parking vacancy parking.
The present invention provides a kind of parking aid, the parking vacancy in parking region can be optimized point
Match, make that vehicle as much as possible can be parked in parking region, and user can in parking region an optional parking sky
Position parks cars.
Description of the drawings
From the description of claim and following preferred embodiments based on attached drawing, further advantage of the present invention,
Feature and details will become obvious.Wherein：
Fig. 1 is the schematic block diagram according to the parking aid of the embodiment of the present invention；
Fig. 2A, 2B show the parking vacancy schematic diagram in the parking region being calculated in the prior art；
Fig. 3 A, 3B show the parking vacancy schematic diagram in the parking region being calculated according to embodiments of the present invention；
Fig. 4 is the flow diagram according to the parking assist method of the embodiment of the present invention.
Specific implementation mode
It is directed to the discussion of the parking aid of the embodiment of the present invention in more detailed manner below, is substantially only to show
Example property, it is no intended to the limitation present invention or its application or purposes.
Fig. 1 is the schematic block diagram according to the parking aid of the embodiment of the present invention.Parking aid 100 includes：
Acquiring unit 10, computing unit 20 and output interface 30.
Acquiring unit 10 is configured to obtain the boundary information of the object of itself vehicle periphery, the object around the vehicle
Body includes parking.
Computing unit 20 is connect with acquiring unit 10, is configured to, and is determined according to the boundary information that acquiring unit 10 obtains
Parking region and parking mode, and obtain the size S in the parking region, then calculate the parking region size S divided by
The quotient m=S/Sd of scheduled parking size Sd, and m is taken as the Integer n no more than m, if m is greater than or equal to 2, calculate list
Member 20 is further configured to the parking region being averagely divided into n parking vacancy.
Parking mode includes vertical parking and parallel parking two ways, and computing unit 20 is obtained according to acquiring unit 10
Boundary information can sketch the contours of the profile of other parkings or barrier.If the short side of the profile is (for example, headstock or vehicle
Tail) it is parallel with the travel direction of vehicle, it is determined that and parking mode is vertical parking；On the contrary, if the long side (example of the profile
Such as, the side of vehicle body) it is parallel with the direction of traffic of vehicle, then parking mode is parallel parking.As a kind of optional reality
Mode is applied, parking mode can also be selected in the automatic parking system of vehicle to determine by user.
When parking mode is vertical parking, scheduled parking size Sd can be scheduled parking width Wp, calculate single
Member 20 calculates the quotient m=S/Wp of the size S divided by scheduled parking width Wp in parking region.When parking mode is parallel parking
When, scheduled parking size Sd may be scheduled parking length Lp, computing unit 20 calculate parking region size S divided by
The quotient m=S/Lp of scheduled parking length Lp.
Output interface 30 is connect with computing unit 20, is configured as output in the parking region calculated by computing unit 20
N parking vacancy information.
Parking aid 100 in the present embodiment further includes display device 40, is connect with output interface 30, for showing
Show the n parking vacancy exported by output interface 30, and the boundary between n parking vacancy is shown as virtual parking stall
Line, in order to which user can be readily selected any one parking vacancy parking according to these virtual parking stall lines.Display device
40 can be connected to automatic parking auxiliary system, the parking vacancy selected in order to automatic parking to user.Display device 40 can
Think intelligent display, includes front windshield, wearable intelligent glasses or the more matchmakers projected by augmented reality
Any one in body display screen.
In addition, the parking aid 100 in the present embodiment further includes detection device 50, detection device 50 and acquiring unit
10 connections, the boundary of the object for detecting vehicle periphery.Detection device 50 can be sonac, radar sensor, swash
Optical sensor etc., the boundary for acquiring the object around vehicle, detection device 50 or imaging sensor, are used for
The image of the object around vehicle is acquired, and obtains boundary on the image.Detection device 50 can be the sensor or
The combination of one or more of person's imaging sensor.
Parking aid 100 in the embodiment of the present invention can optimize the parking vacancy in parking region point
Match, make that vehicle as much as possible can be parked in parking region, and the user of vehicle can be selected in parking region it is any
A suitable parking vacancy parks cars.
The parking aid 100 in the embodiment of the present invention is described in detail below in conjunction with the accompanying drawings to the parking in parking region
Vacancy optimizes the process of distribution.
Fig. 2A, 2B show the parking vacancy schematic diagram in parking region in the prior art.
Two vehicles A has been parked in the P of parking place1、A2, vehicle A3Enter according to parking method in the prior art
A close vehicle A has been selected after the P of parking place2Parking vacancy park cars.If there is no parking stall line in the P of parking place,
Then vehicle A3It may be with parking A2Parking direction it is not parallel, it is possible to lead to not extra parking vacancy and influence
The problem of other vehicle parkings, as shown in Figure 2 A.Assuming that there remains a parking vacancy L, vehicle A in parking space4According to existing
Parking vacancy L is detected after having the parking method in technology to enter parking place P, and by vehicle parking to parking vacancy L, at this time
4 vehicles are parked in the P of parking place in total, as shown in Figure 2 B.
Fig. 3 A, 3B show the parking vacancy schematic diagram in parking region according to the ... of the embodiment of the present invention.
Still by taking the parking place P in Fig. 2A, 2B as an example, two vehicles B has been parked in the P of parking place1、B2.It is another
Vehicle B3Into after the P of parking place, detection device 50 detects vehicle B3Before vehicle B1, B2 and parking place P of surrounding
Back boundary determines parking region, and root by computing unit 20 after acquiring unit 10 obtains this boundary information according to this boundary information
According to vehicle B1、B2Parking mode vehicle B is determined3Parking mode be vertical parking, as shown in Figure 3A.
The computing unit 20 of parking aid 100 can calculate the size S in parking region, wide using scheduled parking
Spend WpIt divides the size S in parking region, calculates the quotient m=S/Sd of the size S divided by scheduled parking size Sd in parking region,
And m is taken as the Integer n no more than m, such as m is 3.2, then n=3, n are more than 2, then computing unit 20 is further by parking region
Averagely it is divided into 3 parking vacancy P1、P2And P3.If n is less than 2, terminate to calculate.
Output interface 30 exports 3 parking vacancy information in the parking region obtained by computing unit 20.For the ease of
For user along the boundary parking in parking vacancy, display device 40 can be by 3 parking vacancy P1、P2And P3Between boundary show
For virtual parking stall line Lm(m=1,2,3,4), as shown in Figure 3A.
Display device 40 will be by virtual parking stall line L by visual modem(m=1,2,3,4) is shown to user, with
Any one parking vacancy and parking can be readily selected to the position according to these virtual parking stall lines convenient for user.Example
Such as, user can select intermediate parking vacancy P2Park cars B3。
Since display device 40 can show virtual parking stall line on the display screen of intelligent display, even if parking area
Not having parking stall line in domain, either parking stall line is covered or by sleet, dust since insufficient light causes driver that can not see
Parking stall line will not influence vehicle B3 to be parallel to other parking B1Or B2Parking mode drive into parking vacancy.
As vehicle B3Parking is to parking vacancy P2Afterwards, two parking vacancy P have also been reserved1And P3, another vehicle B4Into entering
Parking vacancy P can be detected behind vehicle region1And P3, and can therefrom select any one parking vacancy and along virtual vehicle
Bit line parking.For example, user can select parking vacancy P1Park cars B4。
In this way, vehicle B5Into after parking region, parking vacancy P can be detected3, and along virtual parking stall line parking
To parking vacancy P3Afterwards, to park 5 vehicles altogether in parking region, as shown in Figure 3B.In same parking place P,
As a result of parking aid 100 according to the ... of the embodiment of the present invention, being parked than use parking method in the prior art more
One vehicle, has been effectively saved space resources, also adds the flexibility that user selects parking vacancy.
It should be noted that the parking mode and parking quantity in the present embodiment are merely illustrative, it is not limited to this, example
Such as, when parking mode is parallel parking, scheduled parking size Sd is scheduled parking length Lp, and computing unit calculates parking area
The quotient m=S/Lp of the size S in domain divided by scheduled parking length Lp and obtain parking vacancy number.In addition, if the n being calculated
Less than 2, then terminate to calculate.
Fig. 4 is the flow diagram according to the parking assist method of the embodiment of the present invention.Parking assist method 200 includes as follows
Step：
S1：Detect the boundary of the object around vehicle；
S2：Obtain the boundary information of the object of itself vehicle periphery；
S3：Parking region and parking mode are determined based on the boundary information, and obtain the size S in the parking region；
S4：The quotient m=S/Sd of the size S divided by scheduled parking size Sd in the parking region are calculated, and m is taken as not
Integer n more than m；
S5：If n is greater than or equal to 2, the parking region is averagely divided into n parking vacancy；
S6：Boundary between n parking vacancy in the parking region of acquisition is shown as virtual parking stall line, so as to
Family therefrom selects any one parking vacancy parking.
In above-mentioned steps S3 and S4, parking mode includes vertical parking and parallel parking mode, corresponds respectively to difference
Scheduled parking interval Wp and Lp, details are not described herein again.
In above-mentioned steps S5, if n is less than 2, terminate to calculate.
In addition, the embodiments of the present invention also provide a kind of vehicle, with parking aid as described above.
The discussion of front only disclose and describes exemplary embodiments of the present invention.Those skilled in the art will be easy
It is recognized from such discussion and drawings and claims, various change, the modification and variation made wherein are not inclined
From scope and spirit of the present invention as defined by the appended claims.
Claims (10)
1. a kind of parking aid, including：
Acquiring unit is configured to obtain the boundary information of the object of itself vehicle periphery；
Computing unit is connect with the acquiring unit, is configured to the boundary information obtained according to the acquiring unit determination and is stayed
Then vehicle region and parking mode, and obtain the size S in the parking region calculate the size S in the parking region divided by pre-
The quotient m=S/Sd of fixed parking size Sd, and m is taken as the Integer n no more than m, if n is greater than or equal to 2, the calculating
Further the parking region is averagely divided into n parking vacancy to unit by configuration；And
Output interface is connect with the computing unit, the n being configured as output in the parking region calculated by the computing unit
A parking vacancy information.
2. parking aid according to claim 1, wherein described predetermined when the parking mode is vertical parking
Parking size Sd be scheduled parking width Wp, the computing unit calculates the size S in the parking region divided by scheduled
The quotient m=S/Wp of parking width Wp.
3. parking aid according to claim 1, wherein described predetermined when the parking mode is parallel parking
Parking size Sd be scheduled parking length Lp, the computing unit calculates the size S in the parking region divided by scheduled
The quotient m=S/Lp of parking length Lp.
4. parking aid according to claim 1, wherein the parking aid further includes display device, institute
Display device is stated to connect with the output interface, for showing the n parking vacancy exported by the output interface, and will be described
Boundary between n parking vacancy is shown as virtual parking stall line, in order to which user can hold according to these virtual parking stall lines
It changes places and selects any one parking vacancy parking.
5. parking aid according to claim 4, wherein the display device is connected to automatic parking auxiliary system
System, the parking vacancy selected in order to automatic parking to user.
6. parking aid according to claim 4 or 5, wherein the display device is intelligent display, including logical
Cross the front windshield of augmented reality projection, any one in wearable intelligent glasses or multimedia display screen.
7. parking aid according to claim 1, wherein the parking aid further includes detection device, institute
It states detection device to connect with the acquiring unit, is configured to the boundary of the object of detection vehicle periphery.
8. parking aid according to claim 7, the detection device is sonac, radar sensor, swashs
The combination of one or more of optical sensor or imaging sensor.
9. a kind of vehicle has such as claim 1 to 8 any one of them parking aid.
10. a kind of parking assist method is directed to such as claim 1 to 8 any one of them parking aid, including as follows
Step：
Detect the boundary of the object around vehicle；
Obtain the boundary information of the object of itself vehicle periphery；
Parking region and parking mode are determined based on the boundary information, and obtain the size S in the parking region；
The quotient m=S/Sd of the size S divided by scheduled parking size Sd in the parking region are calculated, and m is taken as no more than m's
Integer n；
If n is greater than or equal to 2, the parking region is averagely divided into n parking vacancy；
Boundary between n parking vacancy in the parking region of acquisition is shown as virtual parking stall line, therefrom so as to user
Select any one parking vacancy parking.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611147101.7A CN108609010A (en) | 2016-12-13 | 2016-12-13 | Parking aid, vehicle and parking assist method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611147101.7A CN108609010A (en) | 2016-12-13 | 2016-12-13 | Parking aid, vehicle and parking assist method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108609010A true CN108609010A (en) | 2018-10-02 |
Family
ID=63643792
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611147101.7A Pending CN108609010A (en) | 2016-12-13 | 2016-12-13 | Parking aid, vehicle and parking assist method |
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| Country | Link |
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| CN (1) | CN108609010A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111489557A (en) * | 2019-01-25 | 2020-08-04 | 阿尔派株式会社 | Parking lot parking management device and parking lot parking management method |
| US20210179089A1 (en) * | 2019-12-13 | 2021-06-17 | Honda Motor Co., Ltd. | Parking assistance device, parking assistance method, and computer program product |
| CN112977426A (en) * | 2019-12-13 | 2021-06-18 | 本田技研工业株式会社 | Parking assist system |
| US11377099B2 (en) * | 2020-03-31 | 2022-07-05 | Honda Motor Co., Ltd. | Parking assist system |
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| CN105882747A (en) * | 2015-02-13 | 2016-08-24 | 福特全球技术公司 | System and method for parallel parking a vehicle |
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| US11801828B2 (en) * | 2019-12-13 | 2023-10-31 | Honda Motor Co., Ltd. | Parking assistance device, parking assistance method, and computer program product |
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| US11377099B2 (en) * | 2020-03-31 | 2022-07-05 | Honda Motor Co., Ltd. | Parking assist system |
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Application publication date: 20181002 |