CN108860141A - Method, apparatus of parking and storage medium - Google Patents
Method, apparatus of parking and storage medium Download PDFInfo
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- CN108860141A CN108860141A CN201810668227.1A CN201810668227A CN108860141A CN 108860141 A CN108860141 A CN 108860141A CN 201810668227 A CN201810668227 A CN 201810668227A CN 108860141 A CN108860141 A CN 108860141A
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- 238000000034 method Methods 0.000 title claims abstract description 44
- 230000004913 activation Effects 0.000 claims abstract description 17
- 230000004888 barrier function Effects 0.000 claims description 25
- 230000033001 locomotion Effects 0.000 claims description 18
- 230000008569 process Effects 0.000 claims description 11
- 238000001514 detection method Methods 0.000 claims description 7
- 238000004590 computer program Methods 0.000 claims description 5
- 230000006870 function Effects 0.000 description 27
- 238000010586 diagram Methods 0.000 description 13
- 230000002093 peripheral effect Effects 0.000 description 10
- 230000001133 acceleration Effects 0.000 description 8
- 238000004891 communication Methods 0.000 description 8
- 238000012545 processing Methods 0.000 description 6
- 230000008859 change Effects 0.000 description 3
- 230000004927 fusion Effects 0.000 description 3
- 230000007246 mechanism Effects 0.000 description 3
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- 238000013473 artificial intelligence Methods 0.000 description 2
- 239000000919 ceramic Substances 0.000 description 2
- 238000013461 design Methods 0.000 description 2
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- 230000005484 gravity Effects 0.000 description 2
- 239000004973 liquid crystal related substance Substances 0.000 description 2
- 238000012360 testing method Methods 0.000 description 2
- 230000001052 transient effect Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000003213 activating effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
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- 235000013399 edible fruits Nutrition 0.000 description 1
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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
- 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
-
- 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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Traffic Control Systems (AREA)
Abstract
It parks method, apparatus and storage medium the invention discloses one kind, belongs to Vehicle Engineering technical field.The method includes：When automatic parking function activation, the empty parking space for meeting the condition of parking is obtained；It is presently in the position of position Yu the empty parking space according to object vehicle, plans the parking path of the object vehicle；The object vehicle is moored into the empty parking space according to the parking path.The present invention is presently in position by obtaining the position for meeting the empty parking space for the condition of parking and object vehicle, to plan parking path, and moors object vehicle into empty parking space according to parking path.Since the hand or foot that are not necessarily to driver cooperate, the automatic parking to object vehicle can be realized, to reduce difficulty of parking, simplify parking manoeuvres, improve park efficiency and safety.
Description
Technical field
The present invention relates to Vehicle Engineering technical field, in particular to one kind is parked method, apparatus and storage medium.
Background technique
With the development of economy, automobile has become the indispensable vehicles of people's trip gradually, with the increasing of automobile quantity
Long, the parking position of both sides of the road also be becoming tight by day, and the space of parking position is also more and more compacter.Compact bit space of parking is for driving
Sailing for new hand is a no small challenge, how the short time lack step by automotive safety, VEHICLES MUST PARK WITHIN THE MARKED BAY, be numerous driving
The urgent need of member.
Currently, automobile can automatically control vehicle steering wheel rotation, and incite somebody to action in driver under the control of throttle and brake
Automobile is moored into parking position.But when due to being parked by way of controlling steering wheel, it is also necessary to the cooperation of driver, such as
Fruit driver is improper to throttle or brake control, bumps against when may cause automobile parking with other barriers or can not be rapidly by vapour
Vehicle, which is moored, reduces the efficiency and safety parked into parking position.
Summary of the invention
It parks method, apparatus and storage medium the embodiment of the invention provides one kind, parks in the related technology for solving
Cumbersome, cause to park efficiency and the low problem of safety.The technical solution is as follows：
It parks method in a first aspect, providing one kind, the method includes：
When automatic parking function activation, the empty parking space for meeting the condition of parking is obtained；
It is presently in the position of position Yu the empty parking space according to object vehicle, plans the road of parking of the object vehicle
Diameter；
The object vehicle is moored into the empty parking space according to the parking path.
Optionally, the acquisition meets the empty parking space for the condition of parking, including：
The environment map of the object vehicle current environment is acquired by the full-view camera that the object vehicle is installed
Picture；
Identify the mark of parking in the ambient image；
When described park identifies in corresponding parking space there is no the barrier for influencing the object vehicle and parking, and institute
When stating parking position and meeting the resemblance of the object vehicle, determine that the parking space is the empty parking space for meeting the condition of parking.
Optionally, described to moor the object vehicle into the empty parking space according to the parking path, including：
According to the parking path, steering wheel angle, gear information and the movement speed of the object vehicle are determined；
According to the steering wheel angle of the object vehicle, gear information and movement speed, controls the object vehicle and carry out
It is mobile；
When the position for detecting the object vehicle is overlapped with the empty parking space, determine that the object vehicle is moored into described
Empty parking space.
Optionally, after the control object vehicle carries out movement, including：
Detect position of the object vehicle described in moving process；
When the object vehicle deviates the parking path, the steering wheel angle is adjusted；
According to steering wheel angle adjusted, controls the object vehicle and moved.
Optionally, before the acquisition meets the empty parking space for the condition of parking, further include：
Show the selection interface of the mode of parking of the object vehicle；
When receiving selection instruction, the mode of parking carried in selection instruction is determined as target and is parked mode；
Correspondingly, the acquisition meets the empty parking space for the condition of parking, including：
It is parked mode according to the target, obtains the empty parking space for meeting the condition of parking.
Second aspect, provides a kind of parking apparatus, and described device includes：
Module is obtained, for obtaining the empty parking space for meeting the condition of parking when automatic parking function activation；
Planning module plans the target for being presently in the position of position Yu the empty parking space according to object vehicle
The parking path of automobile；
It parks module, for mooring the object vehicle into the empty parking space according to the parking path.
Optionally, the acquisition module includes：
Submodule is acquired, the full-view camera for installing by the object vehicle acquires the current institute of object vehicle
Locate the ambient image of environment；
Identify submodule, for identification the mark of parking in the ambient image；
First determines submodule, influences the target vapour for parking to identify to be not present in corresponding parking space described in
The barrier that vehicle is parked, and when the parking position meets the resemblance of the object vehicle, determine the parking space for symbol
Close the empty parking space for condition of parking.
Optionally, the module of parking includes：
Second determines submodule, for determining steering wheel angle, the gear of the object vehicle according to the parking path
Information and movement speed；
First control submodule, for according to the steering wheel angle of the object vehicle, gear information and movement speed, control
The object vehicle is made to be moved；
Third determines submodule, for determining when the position for detecting the object vehicle is overlapped with the empty parking space
The object vehicle is moored into the empty parking space.
Optionally, the module of parking further includes：
Detection sub-module, for detecting position of the object vehicle described in moving process；
Adjusting submodule, for adjusting the steering wheel angle when the object vehicle deviates the parking path；
Second control submodule, for controlling the object vehicle and being moved according to steering wheel angle adjusted.
Optionally, described device further includes：
Display module, the selection interface of the mode of parking for showing the object vehicle；
Determining module, for when receiving selection instruction, the mode of parking carried in selection instruction to be determined as target
It parks mode；
Correspondingly, the acquisition module is used for：
It is parked mode according to the target, obtains the empty parking space for meeting the condition of parking.
The third aspect provides a kind of computer readable storage medium, is stored with computer program in the storage medium,
The computer program realizes any method in above-mentioned first aspect when being executed by processor.
Technical solution bring beneficial effect provided in an embodiment of the present invention includes at least：
In embodiments of the present invention, the available empty parking space for meeting the condition of parking, and according to the current institute of the object vehicle
Locate the position of position and empty parking space to plan parking path, later, moors object vehicle into empty parking space according to parking path.Due to
Hand or foot without user cooperate, and the automatic parking to object vehicle can be realized, to reduce and other barriers
The risk to collide, while difficulty of parking is also reduced, parking manoeuvres are simplified, park efficiency and safety are improved.
Detailed description of the invention
To describe the technical solutions in the embodiments of the present invention more clearly, make required in being described below to embodiment
Attached drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the invention, for
For those of ordinary skill in the art, without creative efforts, it can also be obtained according to these attached drawings other
Attached drawing.
Fig. 1 is a kind of parking system configuration diagram provided in an embodiment of the present invention；
Fig. 2 is that one kind provided in an embodiment of the present invention is parked method flow diagram；
Fig. 3 is that another kind provided in an embodiment of the present invention is parked method flow diagram；
Fig. 4 is a kind of structural schematic diagram of parking apparatus provided in an embodiment of the present invention；
Fig. 5 is a kind of structural schematic diagram for obtaining module provided in an embodiment of the present invention；
Fig. 6 is a kind of structural schematic diagram of module of parking provided in an embodiment of the present invention；
Fig. 7 is that another kind provided in an embodiment of the present invention is parked the structural schematic diagram of module；
Fig. 8 is another parking apparatus structural schematic diagram provided in an embodiment of the present invention；
Fig. 9 is a kind of structural schematic diagram of automobile provided in an embodiment of the present invention.
Specific embodiment
To make the object, technical solutions and advantages of the present invention clearer, below in conjunction with attached drawing to embodiment party of the present invention
Formula is described in further detail.
Before carrying out detailed explanation to the embodiment of the present invention, the first application to being related in the embodiment of the present invention
Scene and system architecture are explained respectively.
Firstly, to the present embodiments relate to application scenarios be introduced.
With the growth of automobile quantity, the parking position of both sides of the road also be becoming tight by day, in order to quickly moor automobile into pool
Parking stall, parking equipment can control vehicle steering wheel rotation, and in driver under the control of throttle and brake, by automobile moor into
Parking position.But when due to being parked by way of controlling steering wheel, it is also necessary to the cooperation of driver, if driven
Member to throttle or brake control it is improper, when may cause automobile parking with other barriers collision or can not rapidly by automobile moor into
Parking position reduces the efficiency and safety parked.
Based on such scene, the embodiment of the invention provides a kind of raising efficiency of automobile parking and parking for safety
Method.
Next, to the present embodiments relate to system architecture be introduced.
Fig. 1 is a kind of configuration diagram of parking system provided in an embodiment of the present invention, and referring to Fig. 1, which includes control
Molding block 1, detection of obstacles module 2, camera 3, electric gear change mechanism 4, electric power steering 5 and body electronics systems stabilisation
6, control module 1 can respectively with detection of obstacles module 2, camera 3, electric gear change mechanism 4, electric power steering 5 and vehicle
Body electric stabilizing system 6 connects.Wherein, detection of obstacles module 2 be used for detect barrier and will test with barrier phase
The information of pass is sent to control module 1；Camera 3 is used to acquire the ambient image of current environment, and by collected ring
Border image is sent to control module 1；Control module 1 is used to determine when receiving ambient image and the relevant information of barrier
Meet the empty parking space for the condition of parking, and parking path is planned according to the position that object vehicle is presently in position and empty parking space, so
Control signal is sent to electric gear change mechanism 4, electric power steering 5 and body electronics systems stabilisation 6 according to parking path afterwards；Electricity
Sub- gearshift 4 for shifting gears upon the reception of control signals, and electric power steering 5 is for upon the reception of control signals
Steering wheel is rotated, body electronics systems stabilisation 6 for controlling the traveling speed of object vehicle upon the reception of control signals
Degree, to mooring object vehicle into empty parking space.
It should be noted that the system not only includes above structure, it can also include other structures, for example, can also wrap
Include driving information display system 7.The driving information display system 7 is connect with control module 1, related to object vehicle for showing
Driving information, for example, display parking position, object vehicle are moored into schematic diagram of empty parking space etc..
It, next will be in conjunction with attached drawing to the embodiment of the present invention after the application scenarios to the embodiment of the present invention are introduced
The method of parking provided describes in detail.
Fig. 2 is a kind of flow chart for method of parking provided in an embodiment of the present invention, and referring to fig. 2, this method is applied to target
In automobile, include the following steps.
Step 201：When automatic parking function activation, the empty parking space for meeting the condition of parking is obtained.
Step 202：When the position for being presently in position and empty parking space according to object vehicle, the road of parking of object of planning automobile
Diameter.
Step 203：The object vehicle is moored into the empty parking space according to the parking path.
In embodiments of the present invention, the available empty parking space for meeting the condition of parking, and according to the current institute of the object vehicle
Locate the position of position and empty parking space to plan parking path, later, moors object vehicle into empty parking space according to parking path.Due to
Hand or foot without user cooperate, and the automatic parking to object vehicle can be realized, to reduce and other barriers
The risk to collide, while difficulty of parking is also reduced, parking manoeuvres are simplified, park efficiency and safety are improved.
Optionally, the empty parking space for meeting the condition of parking is obtained, including：
The ambient image of the object vehicle current environment is acquired by the full-view camera that the object vehicle is installed；
Identify the mark of parking in the ambient image；
When the barrier for identifying and being not present in corresponding parking space and influencing the object vehicle and park of parking, and this is parked
When position meets the resemblance of the object vehicle, determine that the parking space is the empty parking space for meeting the condition of parking.
Optionally, the object vehicle is moored into the empty parking space according to the parking path, including：
According to the parking path, steering wheel angle, gear information and the movement speed of the object vehicle are determined；
According to the steering wheel angle of the object vehicle, gear information and movement speed, controls the object vehicle and moved；
When the position for detecting the object vehicle is overlapped with the empty parking space, determine that the object vehicle is moored into the empty parking space.
Optionally, the object vehicle is controlled to carry out after moving, including：
Detect the position that the object vehicle is somebody's turn to do in moving process；
When the object vehicle deviates the parking path, direction disk angle is adjusted；
According to steering wheel angle adjusted, controls the object vehicle and moved.
Optionally, it obtains before meeting the empty parking space for the condition of parking, further includes：
Show the selection interface of the mode of parking of the object vehicle；
When receiving selection instruction, the mode of parking carried in selection instruction is determined as target and is parked mode；
Correspondingly, the empty parking space for meeting the condition of parking is obtained, including：
It is parked mode according to the target, obtains the empty parking space for meeting the condition of parking.
All the above alternatives, can form alternative embodiment of the invention according to any combination, and the present invention is real
It applies example and this is no longer repeated one by one.
Since the embodiment of the present invention is carried out in the case where the automatic parking function activation of object vehicle, be
Embodiment that the present invention will be described in more detail, the first operation to the automatic parking function of activating object vehicle in the embodiment of the present invention
It is explained.
Wherein, object vehicle can be when detecting that user triggers automatic parking key provided in a vehicle, and activation is certainly
Dynamic function of parking, can also be when receiving the automatic parking activation instruction sent by the terminal communicated with object vehicle
Activate automatic parking function.When passing through automatic parking push button exciting automatic parking function, if automatic parking function has activated
Then driver can be reminded in such a way that press key lamp light rises.
Due under normal conditions, when the travel speed of object vehicle is greater than the first travel speed, illustrate object vehicle this
When travel speed it is very fast, be not likely to require and park.Therefore, in order to accurately carry out the automatic parking of object vehicle, when
Object vehicle detects that user triggers automatic parking key provided in a vehicle, or receives and communicated with object vehicle
Terminal send automatic parking activation instruction when, determine the current travel speed of object vehicle；When the traveling of the object vehicle
When speed is greater than the first travel speed, object vehicle does not do any response；When the travel speed of the object vehicle is less than or equal to
When the first travel speed, object vehicle activates automatic parking function.
In addition, stepping on the gas due to when carrying out automatic parking without driver, and object vehicle must have certain row
Sailing speed just can be carried out movement, if the travel speed of object vehicle is 0, even if opening automatic parking function, target vapour
Vehicle may also can not be moved because not having travel speed, so that automatic parking can not be carried out.Therefore, oneself of object vehicle is activated
The condition of dynamic function of parking can also include：The travel speed of object vehicle is greater than or equal to the second travel speed, that is to say, when
The travel speed of object vehicle is greater than or equal to the second travel speed and when less than the first travel speed, activate object vehicle from
Dynamic function of parking.
It should be noted that first travel speed and the second travel speed can be arranged in advance, for example, first traveling
Speed can be 30km/h (thousand ms/h), 20km/h etc..Second travel speed can be 3km/h, 6km/h etc..
Furthermore due to detecting that user triggers automatic parking key provided in a vehicle, or reception when object vehicle
When the automatic parking activation instruction sent to the terminal that is communicated with object vehicle, if the travel speed of object vehicle is quickly
When dropping to the first travel speed or less, object vehicle is not responding to always activation automatic parking function, then driver may
Think that automatic parking function is not handy, reduces user's viscosity.Therefore, it in order to improve user's viscosity, is set when detecting that user triggers
The automatic parking key in vehicle is set, or receives the automatic parking activation that the terminal communicated with object vehicle is sent
When instruction, if the travel speed of object vehicle is greater than or equal to the first travel speed and is less than third travel speed, into
Enter standby mode of parking, when being reduced in the travel speed for specifying the object vehicle in duration and less than the first travel speed, swashs
Automatic parking function living, when the travel speed of the object vehicle in specified duration is still greater than or equal to the first travel speed
When, it prompts the travel speed of object vehicle excessively high by the first prompt information, automatic parking function can not be activated.
In addition, the specified duration can be arranged in advance, for example, the specified duration can be 1 minute, 30 seconds, 20 seconds etc..
When object vehicle, which enters, parks standby mode, in order to make driver have gained some understanding the state of object vehicle, object vehicle is also
Object vehicle can be prompted to be in standby mode of parking by the second prompt information,
In embodiments of the present invention, object vehicle can determine whether to activate automatic parking function according to travel speed, from
And guarantees object vehicle and carry out the accuracy of automatic parking.
After the operation of the automatic parking function to activation object vehicle is explained, now in conjunction with Fig. 3 to this hair
One kind method of parking that bright embodiment provides is explained, and this method comprises the following steps.
Step 301：When automatic parking function activation, object vehicle obtains the empty parking space for meeting the condition of parking.
Due in automatic parking function activation, illustrating to need to carry out automatic parking at this time, and object vehicle can only be in sky
It parks on parking stall.Therefore, object vehicle needs to obtain the empty parking space for meeting the condition of parking.And object vehicle acquisition meets pool
The operation of the empty parking space of spoke part can be：The full-view camera installed by object vehicle acquires object vehicle and is presently in ring
The ambient image in border；Mark of parking in environment-identification image；It is influenced when this parks to identify to be not present in corresponding parking space
The barrier that the object vehicle is parked, and when the parking position meets the resemblance of the object vehicle, determine that the parking space is
Meet the empty parking space for the condition of parking.
Due under normal conditions, parking in order to facilitate driver, parking position usually passes through mark of parking and is labeled,
For example, being labeled by line of parking, board etc. of parking.The object vehicle current environment acquired by full-view camera
There may be mark of parking in ambient image, therefore, object vehicle needs to identify the mark of parking in the ambient image；When this
In ambient image there is no park identify when, illustrate in object vehicle current environment there is no parking space, object vehicle
Also need to continue through the ambient image of full-view camera acquisition current environment；It parks mark when existing in the ambient image
When, illustrate that there are parking spaces in object vehicle current environment.But this park identify corresponding parking space may be
Through there are other automobiles, or there are other barriers, moor to influence object vehicle into the parking space.Therefore, in order to
It can accurately park, object vehicle, which needs to detect to park, to be identified in corresponding parking space with the presence or absence of the influence target
The barrier of automobile parking.
Wherein, object vehicle detect park identify in corresponding parking space with the presence or absence of influence the object vehicle pool
When the barrier of vehicle, it can use in the sensing devices such as the microwave radar being arranged on object vehicle vehicle body, laser sensor
Any one obtains object vehicle at a distance from object in the parking space's ambient enviroment determined；According to parking space's ambient enviroment
The distance of middle object determines the barrier being located in parking space, when object vehicle is at a distance from the barrier in parking position
When greater than any one in the length and width dimensions of object vehicle, determines that this is parked and identify in corresponding parking space that there is no influence should
The barrier that object vehicle is parked.When object vehicle is less than or equal to the length of object vehicle at a distance from the barrier in parking position
When wide size, determining that this parks to identify in corresponding parking space to exist influences the barrier that the object vehicle is parked.
In addition, object vehicle can identify mark of parking by image-recognizing method from ambient image, even and if due to
Parking space is recognized, if parking space's length and width dimensions are smaller, when can not accommodate object vehicle, object vehicle still can not be
It parks the parking stall.Therefore, object vehicle not only can identify mark of parking by full-view camera, can also pass through panoramic shooting
Head determines and parks and identifies the length and width dimensions of corresponding parking space, and by the length and width of the length and width dimensions of parking space and object vehicle
Size is compared, and when the length and width dimensions of parking space are all larger than the length and width dimensions of object vehicle, continues to test mark of parking
Whether there is in corresponding parking space influences the barrier that the object vehicle is parked.
Further, in order to faster park, object vehicle obtain meet the empty parking space for the condition of parking before,
It can also show the selection interface of the mode of parking of the object vehicle；When receiving selection instruction, will be carried in selection instruction
The mode of parking be determined as target and park mode；Correspondingly, object vehicle can park mode according to the target, and acquisition meets pool
The empty parking space of spoke part.
It should be noted that the mode of parking may include Parallel parking, vertically park, and not according to the mode of parking
Together, object vehicle can detect the orientation of parking space, after determining parking space in ambient image to obtain symbol
Close the empty parking space for condition of parking.
It is worth noting that since, there are when parking space, user can see the side of parking space around object vehicle
Position, user can manually select the mode of parking, so that the step of reducing object vehicle identification parking space, improves identification pool
The speed of vehicle parking stall.
Further, sometimes object vehicle may get multiple empty parking spaces, at this time can be according to the excellent of empty parking space
First grade, determine current goal automobile moor into empty parking space.
Wherein, when empty parking space is the empty parking space for meeting the condition of parking determined jointly by full-view camera and sensing device
When, determine that the priority of the empty parking space is the first priority；When empty parking space is by any in full-view camera or sensing device
When the determining empty parking space for meeting the condition of parking, determine that the priority of the empty parking space is the second priority.Therefore, object vehicle can
Any empty parking space in the empty parking space for meeting the condition of parking determined jointly by full-view camera and sensing device to be determined as
Current goal automobile moor into empty parking space；When there is no what is determined jointly by full-view camera and sensing device to meet the condition of parking
Empty parking space when, by any empty parking space for meeting the condition of parking be determined as current goal automobile moor into empty parking space.
Step 302：Object vehicle is according to the position for being presently in position and empty parking space, the road of parking of object of planning automobile
Diameter.
Wherein, when getting the empty parking space for meeting the condition of parking, illustrate that object vehicle can be moored into the empty parking space, because
This, object vehicle, which can determine, is presently in position and empty parking space present position, according to being presently in locating for position and empty parking space
Plan parking path in position.
Step 303：Object vehicle moors the object vehicle into empty parking space according to the parking path.
Due to being that object vehicle has planned parking path, object vehicle need to only be moored according to parking path into sky
Parking stall, which can be completed, parks.Wherein, object vehicle, which moors the operation into the empty parking space according to the parking path, to be：According to the pool
Bus or train route diameter determines steering wheel angle, gear information and the movement speed of the object vehicle；According to the steering wheel angle of the object vehicle
Degree, gear information and movement speed, control the object vehicle and are moved；When the position and the sky for detecting the object vehicle
When parking stall is overlapped, determine that the object vehicle is moored into empty parking space.
It should be noted that when detecting that the rotational angle of steering wheel is greater than or equal to during mobile object vehicle
When stop angle, stop mobile object vehicle.The stop angle can be arranged in advance, for example, the stop angle can be 100
Degree, 180 degree etc..
Further, object vehicle in moving process may because of Uneven road etc. due to cause to deviate and park road
Therefore diameter, after control object vehicle carries out movement, also needs detection object vehicle to exist so as to cause that can not moor into empty parking space
Position in moving process；When the object vehicle deviates the parking path, direction disk angle is adjusted, and according to adjusted
Steering wheel angle controls the object vehicle and is moved.
Step 304：Object vehicle shows successfully prompt information of parking by car-mounted terminal.
Wherein, it after object vehicle is successfully moored into empty parking space, can park success in the display screen display of car-mounted terminal
Prompt information improve user's viscosity so that driver be made to have a clear understanding of object vehicle situation.
In embodiments of the present invention, the available empty parking space for meeting the condition of parking of object vehicle, and according to the target vapour
Vehicle is presently in the position of position and empty parking space to plan parking path, later, moves object vehicle according to parking path, will
Object vehicle is moored into empty parking space, and the adjustment direction disk at any time in moving process, is guaranteed the motion track of object vehicle and is parked
Track is overlapped.Due to without driver hand or foot cooperate, the automatic parking to object vehicle can be realized, reduce with
The sharing that other barriers collide, while also reducing difficulty of parking, simplifies parking manoeuvres, improve park efficiency and
Safety.
After the method for parking provided in an embodiment of the present invention is explained, next, to the embodiment of the present invention
The parking apparatus of offer is introduced.
Fig. 4 is a kind of block diagram for parking apparatus that the embodiment of the present disclosure provides, and referring to fig. 4, which can be by software, hard
Part or both is implemented in combination with.The device includes：Obtain module 401, planning module 402 and module 403 of parking.
Module 401 is obtained, for obtaining the empty parking space for meeting the condition of parking when automatic parking function activation；
Planning module 402 plans the mesh for being presently in the position of position Yu the empty parking space according to object vehicle
Mark the parking path of automobile；
Module of parking 403, for mooring the object vehicle into the empty parking space according to the parking path.
Optionally, referring to Fig. 5, the acquisition module 401 includes：
Submodule 4011 is acquired, the full-view camera for installing by the object vehicle acquires the object vehicle and works as
The ambient image of preceding local environment；
Identify submodule 4012, for identification the mark of parking in the ambient image；
First determines submodule 4013, influences the mesh for parking to identify to be not present in corresponding parking space described in
The barrier of automobile parking is marked, and when the parking position meets the resemblance of the object vehicle, determines the parking space
For the empty parking space for meeting the condition of parking.
Optionally, referring to Fig. 6, the module 403 of parking includes：
Second determines submodule 4031, for according to the parking path, determine the object vehicle steering wheel angle,
Gear information and movement speed；
First control submodule 4032, for according to the steering wheel angle of the object vehicle, gear information and mobile speed
Degree, controls the object vehicle and is moved；
Third determines submodule 4033, for when the position for detecting the object vehicle is overlapped with the empty parking space,
Determine that the object vehicle is moored into the empty parking space.
Optionally, referring to Fig. 7, the module 403 of parking further includes：
Detection sub-module 4034, for detecting position of the object vehicle described in moving process；
Adjusting submodule 4035, for adjusting the steering wheel angle when the object vehicle deviates the parking path
Degree；
Second control submodule 4036, for controlling the object vehicle and being moved according to steering wheel angle adjusted
It is dynamic.
Optionally, referring to Fig. 8, described device further includes：
Display module 404, the selection interface of the mode of parking for showing the object vehicle；
Determining module 405, for when receiving selection instruction, the mode of parking carried in selection instruction to be determined as mesh
Mark mode of parking；
Correspondingly, the acquisition module 401 is used for：
It is parked mode according to the target, obtains the empty parking space for meeting the condition of parking.
In conclusion in embodiments of the present invention, the available empty parking space for meeting the condition of parking of object vehicle, and according to
The object vehicle is presently in the position of position and empty parking space to plan parking path, later, according to the mobile target of parking path
Automobile moors object vehicle into empty parking space, and the adjustment direction disk at any time in moving process, guarantees the moving rail of object vehicle
Mark is overlapped with track of parking.Since the hand or foot that are not necessarily to user cooperate, the automatic parking to object vehicle can be realized, drop
It is low to share with what other barriers collided, while difficulty of parking is also reduced, parking manoeuvres are simplified, improves and parks
Efficiency and safety.
It should be noted that：Parking apparatus provided by the above embodiment is when being parked, only with above-mentioned each functional module
Division progress for example, in practical application, can according to need and above-mentioned function distribution is complete by different functional modules
At the internal structure of device being divided into different functional modules, to complete all or part of the functions described above.Separately
Outside, parking apparatus provided by the above embodiment and embodiment of the method for parking belong to same design, the specific implementation process side of being detailed in
Method embodiment, which is not described herein again.
Fig. 9 shows the structural block diagram of the automobile 900 of an illustrative embodiment of the invention offer.In general, automobile 900 wraps
It has included：Processor 901 and memory 902.
Processor 901 may include one or more processing cores, such as 4 core processors, 8 core processors etc..Place
Reason device 901 can use DSP (Digital Signal Processing, Digital Signal Processing), FPGA (Field-
Programmable Gate Array, field programmable gate array), PLA (Programmable Logic Array, may be programmed
Logic array) at least one of example, in hardware realize.Processor 901 also may include primary processor and coprocessor, master
Processor is the processor for being handled data in the awake state, also referred to as CPU (Central Processing
Unit, central processing unit)；Coprocessor is the low power processor for being handled data in the standby state.?
In some embodiments, processor 901 can be integrated with GPU (Graphics Processing Unit, image processor),
GPU is used to be responsible for the rendering and drafting of content to be shown needed for display screen.In some embodiments, processor 901 can also be wrapped
AI (Artificial Intelligence, artificial intelligence) processor is included, the AI processor is for handling related machine learning
Calculating operation.
Memory 902 may include one or more computer readable storage mediums, which can
To be non-transient.Memory 902 may also include high-speed random access memory and nonvolatile memory, such as one
Or multiple disk storage equipments, flash memory device.In some embodiments, the non-transient computer in memory 902 can
Storage medium is read for storing at least one instruction, at least one instruction performed by processor 901 for realizing this Shen
Please in embodiment of the method provide method of parking.
In some embodiments, automobile 900 is also optional includes：Peripheral device interface 903 and at least one peripheral equipment.
It can be connected by bus or signal wire between processor 901, memory 902 and peripheral device interface 903.Each peripheral equipment
It can be connected by bus, signal wire or circuit board with peripheral device interface 903.Specifically, peripheral equipment includes：Radio circuit
904, at least one of touch display screen 905, camera 906, voicefrequency circuit 907, positioning component 908 and power supply 909.
Peripheral device interface 903 can be used for I/O (Input/Output, input/output) is relevant outside at least one
Peripheral equipment is connected to processor 901 and memory 902.In some embodiments, processor 901, memory 902 and peripheral equipment
Interface 903 is integrated on same chip or circuit board；In some other embodiments, processor 901, memory 902 and outer
Any one or two in peripheral equipment interface 903 can realize on individual chip or circuit board, the present embodiment to this not
It is limited.
Radio circuit 904 is for receiving and emitting RF (Radio Frequency, radio frequency) signal, also referred to as electromagnetic signal.It penetrates
Frequency circuit 904 is communicated by electromagnetic signal with communication network and other communication equipments.Radio circuit 904 turns electric signal
It is changed to electromagnetic signal to be sent, alternatively, the electromagnetic signal received is converted to electric signal.Optionally, radio circuit 904 wraps
It includes：Antenna system, RF transceiver, one or more amplifiers, tuner, oscillator, digital signal processor, codec chip
Group, user identity module card etc..Radio circuit 904 can be carried out by least one wireless communication protocol with other terminals
Communication.The wireless communication protocol includes but is not limited to：Metropolitan Area Network (MAN), each third generation mobile communication network (2G, 3G, 4G and 5G), wireless office
Domain net and/or WiFi (Wireless Fidelity, Wireless Fidelity) network.In some embodiments, radio circuit 904 may be used also
To include the related circuit of NFC (Near Field Communication, wireless near field communication), the application is not subject to this
It limits.
Display screen 905 is for showing UI (User Interface, user interface).The UI may include figure, text, figure
Mark, video and its their any combination.When display screen 905 is touch display screen, display screen 905 also there is acquisition to show
The ability of the touch signal on the surface or surface of screen 905.The touch signal can be used as control signal and be input to processor
901 are handled.At this point, display screen 905 can be also used for providing virtual push button and/or dummy keyboard, also referred to as soft button and/or
Soft keyboard.In some embodiments, display screen 905 can be one, and the front panel of automobile 900 is arranged；In other embodiments
In, display screen 905 can be at least two, be separately positioned on the different surfaces of automobile 900 or in foldover design；In still other reality
It applies in example, display screen 905 can be flexible display screen, be arranged on the curved surface of automobile 900 or on fold plane.Even, it shows
Display screen 905 can also be arranged to non-rectangle irregular figure, namely abnormity screen.Display screen 905 can use LCD (Liquid
Crystal Display, liquid crystal display), OLED (OrganicLight-Emitting Diode, Organic Light Emitting Diode)
Etc. materials preparation.
CCD camera assembly 906 is for acquiring image or video.In some embodiments, camera at least two, respectively
For any one in main camera, depth of field camera, wide-angle camera, focal length camera, to realize main camera and the depth of field
Camera fusion realizes that pan-shot and VR (Virtual are realized in background blurring function, main camera and wide-angle camera fusion
Reality, virtual reality) shooting function or other fusion shooting functions.In some embodiments, CCD camera assembly 906 is gone back
It may include flash lamp.Flash lamp can be monochromatic warm flash lamp, be also possible to double-colored temperature flash lamp.Double-colored temperature flash lamp refers to
The combination of warm light flash lamp and cold light flash lamp can be used for the light compensation under different-colour.
Voicefrequency circuit 907 may include microphone and loudspeaker.Microphone is used to acquire the sound wave of user and environment, and will
Sound wave, which is converted to electric signal and is input to processor 901, to be handled, or is input to radio circuit 904 to realize voice communication.
For stereo acquisition or the purpose of noise reduction, microphone can be separately positioned on the different parts of automobile 900 to be multiple.Mike
Wind can also be array microphone or omnidirectional's acquisition type microphone.Loudspeaker is then used to that processor 901 or radio circuit will to be come from
904 electric signal is converted to sound wave.Loudspeaker can be traditional wafer speaker, be also possible to piezoelectric ceramic loudspeaker.When
When loudspeaker is piezoelectric ceramic loudspeaker, the audible sound wave of the mankind can be not only converted electrical signals to, it can also be by telecommunications
Number the sound wave that the mankind do not hear is converted to carry out the purposes such as ranging.
Positioning component 908 is used to position the current geographic position of automobile 900, to realize navigation or LBS (Location
Based Service, location based service).Positioning component 908 can be the GPS (Global based on the U.S.
Positioning System, global positioning system), the dipper system of China, Russia Gray receive this system or European Union
The positioning component of Galileo system.
Power supply 909 is used to be powered for the various components in automobile 900.Power supply 909 can be alternating current, direct current,
Disposable battery or rechargeable battery.When power supply 909 includes rechargeable battery, which can support wired charging
Or wireless charging.The rechargeable battery can be also used for supporting fast charge technology.
In some embodiments, automobile 900 further includes having one or more sensors 910.The one or more sensors
910 include but is not limited to：Acceleration transducer 911.
The acceleration that acceleration transducer 911 can detecte in three reference axis of the coordinate system established with automobile 900 is big
It is small.For example, acceleration transducer 911 can be used for detecting component of the acceleration of gravity in three reference axis.Processor 901 can
With the acceleration of gravity signal acquired according to acceleration transducer 911, touch display screen 905 is controlled with transverse views or longitudinal view
Figure carries out the display of user interface.Acceleration transducer 911 can be also used for the acquisition of game or the exercise data of user.
It that is to say, the embodiment of the present invention provides not only a kind of automobile, including processor and can hold for storage processor
The memory of row instruction, wherein processor is configured as executing the method in Fig. 2 and embodiment shown in Fig. 3, moreover, this hair
Bright embodiment additionally provides a kind of computer readable storage medium, is stored with computer program in the storage medium, the computer
The method of parking in Fig. 2 and embodiment shown in Fig. 3 may be implemented when program is executed by processor.
It will be understood by those skilled in the art that structure shown in Fig. 9 does not constitute the restriction to automobile 900, can wrap
It includes than illustrating more or fewer components, perhaps combine certain components or is arranged using different components.
Those of ordinary skill in the art will appreciate that realizing that all or part of the steps of above-described embodiment can pass through hardware
It completes, relevant hardware can also be instructed to complete by program, the program can store in a kind of computer-readable
In storage medium, storage medium mentioned above can be read-only memory, disk or CD etc..
The foregoing is merely presently preferred embodiments of the present invention, is not intended to limit the invention, it is all in spirit of the invention and
Within principle, any modification, equivalent replacement, improvement and so on be should all be included in the protection scope of the present invention.
Claims (10)
- The method 1. one kind is parked, which is characterized in that the method includes：When automatic parking function activation, the empty parking space for meeting the condition of parking is obtained；It is presently in the position of position Yu the empty parking space according to object vehicle, plans the parking path of the object vehicle；The object vehicle is moored into the empty parking space according to the parking path.
- 2. the method as described in claim 1, which is characterized in that the acquisition meets the empty parking space for the condition of parking, including：The ambient image of the object vehicle current environment is acquired by the full-view camera that the object vehicle is installed；Identify the mark of parking in the ambient image；When described park identifies in corresponding parking space there is no the barrier for influencing the object vehicle and parking, and the pool When parking stall meets the resemblance of the object vehicle, determine that the parking space is the empty parking space for meeting the condition of parking.
- 3. the method as described in claim 1, which is characterized in that it is described according to the parking path by the object vehicle moor into The empty parking space, including：According to the parking path, steering wheel angle, gear information and the movement speed of the object vehicle are determined；According to the steering wheel angle of the object vehicle, gear information and movement speed, controls the object vehicle and moved；When the position for detecting the object vehicle is overlapped with the empty parking space, determine that the object vehicle is moored into the empty wagons Position.
- 4. method as claimed in claim 3, which is characterized in that after the control object vehicle carries out movement, including：Detect position of the object vehicle described in moving process；When the object vehicle deviates the parking path, the steering wheel angle is adjusted；According to steering wheel angle adjusted, controls the object vehicle and moved.
- 5. the method as described in claim 1, which is characterized in that before the acquisition meets the empty parking space for the condition of parking, also wrap It includes：Show the selection interface of the mode of parking of the object vehicle；When receiving selection instruction, the mode of parking carried in selection instruction is determined as target and is parked mode；Correspondingly, the acquisition meets the empty parking space for the condition of parking, including：It is parked mode according to the target, obtains the empty parking space for meeting the condition of parking.
- 6. a kind of parking apparatus, which is characterized in that described device includes：Module is obtained, for obtaining the empty parking space for meeting the condition of parking when automatic parking function activation；Planning module plans the object vehicle for being presently in the position of position Yu the empty parking space according to object vehicle Parking path；It parks module, for mooring the object vehicle into the empty parking space according to the parking path.
- 7. device as claimed in claim 6, which is characterized in that the acquisition module includes：Submodule is acquired, the full-view camera for installing by the object vehicle acquires the object vehicle and is presently in ring The ambient image in border；Identify submodule, for identification the mark of parking in the ambient image；First determines submodule, influences the object vehicle pool for parking to identify to be not present in corresponding parking space described in The barrier of vehicle, and when the parking position meets the resemblance of the object vehicle, determine that the parking space is to meet pool The empty parking space of spoke part.
- 8. device as claimed in claim 6, which is characterized in that the module of parking includes：Second determines submodule, for determining steering wheel angle, the gear information of the object vehicle according to the parking path And movement speed；First control submodule, for controlling institute according to the steering wheel angle of the object vehicle, gear information and movement speed Object vehicle is stated to be moved；Third determines submodule, described in determining when the position for detecting the object vehicle is overlapped with the empty parking space Object vehicle is moored into the empty parking space.
- 9. device as claimed in claim 8, which is characterized in that the module of parking further includes：Detection sub-module, for detecting position of the object vehicle described in moving process；Adjusting submodule, for adjusting the steering wheel angle when the object vehicle deviates the parking path；Second control submodule, for controlling the object vehicle and being moved according to steering wheel angle adjusted.
- 10. a kind of computer readable storage medium, which is characterized in that computer program is stored in the storage medium, it is described Method as claimed in any one of claims 1 to 5 is realized when computer program is executed by processor.
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|---|---|---|---|
| CN201810668227.1A CN108860141B (en) | 2018-06-26 | 2018-06-26 | Parking method, parking device and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810668227.1A CN108860141B (en) | 2018-06-26 | 2018-06-26 | Parking method, parking device and storage medium |
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| Publication Number | Publication Date |
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| CN108860141A true CN108860141A (en) | 2018-11-23 |
| CN108860141B CN108860141B (en) | 2020-10-09 |
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| CN201810668227.1A Active CN108860141B (en) | 2018-06-26 | 2018-06-26 | Parking method, parking device and storage medium |
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| CN110103951A (en) * | 2019-05-23 | 2019-08-09 | 威马智慧出行科技（上海）有限公司 | Automatic parking method, electronic equipment and automobile |
| CN110329246A (en) * | 2019-07-11 | 2019-10-15 | 湖北文理学院 | A kind of intelligent driving system and method with automatic parking function |
| CN110466519A (en) * | 2019-08-15 | 2019-11-19 | 广州小鹏汽车科技有限公司 | Control method for vehicle and vehicle control system based on collision detection |
| CN110490172A (en) * | 2019-08-27 | 2019-11-22 | 北京茵沃汽车科技有限公司 | Information merges parking stall position compensation method, the system, device, medium parked |
| CN110544386A (en) * | 2019-09-18 | 2019-12-06 | 奇瑞汽车股份有限公司 | parking space identification method and device and storage medium |
| CN111071248A (en) * | 2019-12-24 | 2020-04-28 | 浙江合众新能源汽车有限公司 | Intelligent parking method based on electronic power-assisted brake |
| CN111724577A (en) * | 2019-03-19 | 2020-09-29 | 北京新能源汽车股份有限公司 | Method and device for remote control driving of vehicle and vehicle |
| CN111746521A (en) * | 2020-06-29 | 2020-10-09 | 芜湖雄狮汽车科技有限公司 | Parking route planning method, device, equipment and storage medium |
| CN111942376A (en) * | 2020-08-24 | 2020-11-17 | 罗忠明 | Automatic parking system based on 5G and millimeter wave radar |
| CN112172793A (en) * | 2020-09-15 | 2021-01-05 | 华人运通(上海)自动驾驶科技有限公司 | Parking path planning method and device, vehicle and storage medium |
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