CN108979277A - Assist parking apparatus - Google Patents
Assist parking apparatus Download PDFInfo
- Publication number
- CN108979277A CN108979277A CN201810977680.0A CN201810977680A CN108979277A CN 108979277 A CN108979277 A CN 108979277A CN 201810977680 A CN201810977680 A CN 201810977680A CN 108979277 A CN108979277 A CN 108979277A
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- CN
- China
- Prior art keywords
- vehicle
- parking
- parking stall
- auxiliary wheel
- distance
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
- E04H6/00—Buildings for parking cars, rolling-stock, aircraft, vessels or like vehicles, e.g. garages
- E04H6/42—Devices or arrangements peculiar to garages, not covered elsewhere, e.g. securing devices, safety devices, monitoring and operating schemes; centering devices
- E04H6/422—Automatically operated car-parks
- E04H6/424—Positioning devices
-
- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
- E04H6/00—Buildings for parking cars, rolling-stock, aircraft, vessels or like vehicles, e.g. garages
- E04H6/42—Devices or arrangements peculiar to garages, not covered elsewhere, e.g. securing devices, safety devices, monitoring and operating schemes; centering devices
- E04H6/422—Automatically operated car-parks
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- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Vehicle Body Suspensions (AREA)
Abstract
The invention belongs to assist driving field, more particularly to a kind of auxiliary parking apparatus, it includes data acquisition portion, adjustment portion and control unit, it collects information and is transferred to control unit in data acquisition portion, control unit judges the environment of parking at vehicle parking position according to collected information, the supplementary structures such as auxiliary wheel are made and are adaptively adjusted, intact stability when being parked with improving is reduced and parked time-consuming.
Description
Technical field
The invention belongs to assist driving field, in particular to a kind of auxiliary parking apparatus.
Background technique
The lateral auxiliary device for reducing Vehicular turn radius when parking can be convenient the parking manoeuvres of driver, such as on
The patented product parking assist apparatus of marine Ke Shenjiang electric vehicle Co., Ltd and with the device electric vehicle (with reference to benefit
Document CN103010181B), BeiQi FuTian Car Co., Ltd (referenced patent document CN104828032B).
Summary of the invention
The present invention provides a kind of auxiliary parking apparatus, can be according to the parking environment at vehicle parking position, to auxiliary
The supplementary structures such as wheel are helped to make the intact stability being adaptively adjusted, when parking to improve, reduce time-consuming of parking.
It includes imaging sensor, adjustment portion and control system,
Described image sensor is installed on automobile top, for acquiring the image near parking stall and parking stall；
Adjustment portion includes:
Auxiliary wheel is installed on vehicle rear, for supporting and driving the posterior transversal of vehicle to move when parking；
First driving device is installed on inside auxiliary wheel, for driving auxiliary wheel to rotate；
Elevating lever, for adjusting the adjustable height of auxiliary wheel；
Hydraulic pump, for driving lifter rod lifting；
Connecting bracket is used to connect and fix auxiliary wheel；
Rotating disk is installed between elevating lever and connecting bracket and fixes with connecting bracket；
Second driving device is used to drive rotation disc spins, thus plane and vehicle where adjusting the side of auxiliary wheel
Angle between wheel shaft；
Control system is configured as:
(1) image taking sensor be origin establish three-dimensional system of coordinate, record mounting height and the angle of depression of imaging sensor with
And focal length when shooting photo, go out parking stall line marker further according to the image recognition near imaging sensor acquisition parking stall, into
And calculate the distance between vehicle and parking stall line marker；
(2) when detecting that the distance between vehicle body and parking stall edge be greater than the first value, and two front wheels are in parking stall central axes
On, vehicle is in ideal parking place at this time for judgement, otherwise judges that vehicle is in non-ideal parking place at this time；In the parking stall
Axis refers to that wheel is all equal along distance with parking stall left and right side, crosses wheel work perpendicular to a virtual vertical line of parking stall baseline；
(3) when vehicle is in ideal parking place, control unit control elevating lever falls auxiliary wheel and jacks up vehicle rear
It is lifted away from ground, first driving device drives auxiliary wheel rotation, so that vehicle tail is gone to first position, then storage of moving backward, and described the
One position refers to the position that the midpoint of vehicle front axle and the midpoint of hind axle are all located on the parking stall central axes；
(4) it when it far from the distance of parking stall central axes is d that vehicle, which is in the midpoint of non-ideal parking place and front axle, adjusts
The angle between plane and axletree where the side of auxiliary wheel is adjusted to from initial 0The L refers to front axle
Midpoint and the distance between the tailstock, after angle adjusts, control unit control elevating lever falls auxiliary wheel for vehicle rear top
Rise and be lifted away from ground, first driving device drives auxiliary wheel rotation, at this time auxiliary wheel can generate midpoint for compensating front axle with
The lateral displacement component of distance, makes vehicle tail go to first position between the central axes of parking stall, then storage of moving backward；
(5) when detecting that the distance between automobile tail and parking stall baseline are greater than second value, judge that vehicle is also not at this time
It pours into parking stall completely, needs to continue to move backward；If this distance is less than or equal to second value, judge vehicle completely into library,
It then controls vehicle and stops operation of parking immediately.
The derivation process of the angle between plane and axletree where the side of adjusting auxiliary wheel is as follows:
If it is L that the midpoint of front axle, which is at a distance from d, with the tailstock at a distance from the central axes of parking stall, if vehicle will move famous dictum
Think parking place, needing headstock lateral displacement is d, and it is L that tail portion, which needs vertical direction displacement, then auxiliary wheel need to adjust the angle A, if
Auxiliary wheel displacement is S, and need to meet lateral displacement component is d, and vertical direction displacement component is L namely Ssin A=d, Scos
A=L then has d:L=sin A:cos A=tan A, therefore
The beneficial effects of the present invention are: the present invention can be according to the parking environment at vehicle parking position, to auxiliary wheel etc.
Supplementary structure, which is made, to be adaptively adjusted, and intact stability when being parked with improving is reduced and parked time-consuming.
Detailed description of the invention
Fig. 1 shows auxiliary parking apparatus structural schematic diagram；
Fig. 2 shows auxiliary parking apparatus composition block diagrams；
Fig. 3 shows ideal parking place schematic diagram；
Fig. 4 shows first position schematic diagram；
Fig. 5 shows non-ideal parking place schematic diagram.
Specific embodiment
With reference to the accompanying drawings, the function that the structure of this system is described in detail and is realized.
Parking apparatus, including data acquisition portion 1, adjustment portion 2 and control system 3, control system 3 is assisted to be acquired according to data
The working condition in the information control and regulation portion 2 that portion 1 is collected；Wherein,
Data acquisition portion 1 includes:
Imaging sensor 11, is installed on automobile top, the acquisition for image near parking stall；
Device adjustment portion 2 includes:
Auxiliary wheel 21 supports when for parking and drives vehicle rear transverse movement；
Wheel motor is installed on inside auxiliary wheel 21 as first driving device, for driving auxiliary wheel 21 to rotate；
Elevating lever 22, for adjusting the adjustable height of auxiliary wheel 21；
Hydraulic pump 23, for driving elevating lever 22 to go up and down；
Connecting bracket 24, for connecting auxiliary wheel 21 and elevating lever 22；
Rotating disk 25 is installed between elevating lever 22 and connecting bracket 24；
Second driving device, for driving rotating disk 25 to rotate, thus plane and vehicle where adjusting 21 side of auxiliary wheel
Angle A between wheel shaft；
Control system 3 is configured as:
(1) image taking sensor be origin establish three-dimensional system of coordinate, record mounting height and the angle of depression of imaging sensor with
And focal length when shooting photo, go out parking stall line marker further according to the image recognition near imaging sensor acquisition parking stall, into
And calculate the distance between vehicle and parking stall line marker；
(2) when detecting that the distance between vehicle body and parking stall edge be greater than the first value, and two front wheels are in parking stall central axes
On, vehicle is in ideal parking place at this time for judgement, otherwise judges that vehicle is in non-ideal parking place at this time；In the parking stall
Axis refers to that wheel is all equal along distance with parking stall left and right side, crosses wheel work perpendicular to a virtual vertical line of parking stall baseline；
(3) when vehicle is in ideal parking place, control unit control elevating lever falls auxiliary wheel and jacks up vehicle rear
It is lifted away from ground, first driving device drives auxiliary wheel rotation, so that vehicle tail is gone to first position, then storage of moving backward, and described the
One position refers to the position that the midpoint of vehicle front axle and the midpoint of hind axle are all located on the parking stall central axes；
(4) it when it far from the distance of parking stall central axes is d that vehicle, which is in the midpoint of non-ideal parking place and front axle, adjusts
The angle between plane and axletree where the side of auxiliary wheel is adjusted to from initial 0The L refers to front axle
Midpoint and the distance between the tailstock, after angle adjusts, control unit control elevating lever falls auxiliary wheel for vehicle rear top
Rise and be lifted away from ground, first driving device drives auxiliary wheel rotation, at this time auxiliary wheel can generate midpoint for compensating front axle with
The lateral displacement component of distance, makes vehicle tail go to first position between the central axes of parking stall, then storage of moving backward；
(5) when detecting that the distance between automobile tail and parking stall baseline are greater than second value, judge that vehicle is also not at this time
It pours into parking stall completely, needs to continue to move backward；If this distance is less than or equal to second value, judge vehicle completely into library,
It then controls vehicle and stops operation of parking immediately.
One skilled in the art would recognize that without departing substantially from the spirit and scope of the invention as generally describing,
Various variations and/or modification can be carried out to invention shown in each specific embodiment.Therefore, in terms of all
For, embodiment here is considered as illustrative and and non-limiting.Equally, the present invention includes any feature
Combination, the combination of any feature especially in Patent right requirement, even if the combination of this feature or feature is not in patent
It is explicitely stated in claim or each embodiment here.
Claims (2)
- A kind of wheel 1. auxiliary is parked, which is characterized in that its ginseng that auxiliary wheel is adjusted according to the parking environment at vehicle parking position Number reduces time-consuming of parking to improve intact stability when parking.
- 2. a kind of auxiliary parking apparatus comprising imaging sensor, adjustment portion and control system, which is characterized in thatDescribed image sensor is installed on automobile top, for acquiring the image near parking stall and parking stall；The adjustment portion includes:Auxiliary wheel is installed on vehicle rear, for supporting and driving the posterior transversal of vehicle to move when parking；First driving device is installed on inside auxiliary wheel, for driving auxiliary wheel to rotate；Elevating lever, for adjusting the adjustable height of auxiliary wheel；Hydraulic pump, for driving lifter rod lifting；Connecting bracket is used to connect and fix auxiliary wheel；Rotating disk is installed between elevating lever and connecting bracket and fixes with connecting bracket；Second driving device is used to drive rotation disc spins, thus plane and axletree where adjusting the side of auxiliary wheel Between angle；The control system is configured as:(1) image taking sensor is that origin establishes three-dimensional system of coordinate, records the mounting height and the angle of depression and bat of imaging sensor Focal length when photo is taken the photograph, goes out parking stall line marker, Jin Erji further according to the image recognition near imaging sensor acquisition parking stall Calculate the distance between vehicle and parking stall line marker；(2) when detecting that the distance between vehicle body and parking stall edge be greater than the first value, and two front wheels are on the central axes of parking stall, are sentenced Disconnected vehicle at this time is in ideal parking place, otherwise judges that vehicle is in non-ideal parking place at this time；The parking stall central axes Refer to that wheel is all equal along distance with parking stall left and right side, crosses wheel work perpendicular to a virtual vertical line of parking stall baseline；(3) when vehicle is in ideal parking place, control unit control elevating lever falls auxiliary wheel and is lifted away from vehicle rear jack-up Ground, first driving device drive auxiliary wheel rotation, so that vehicle tail is gone to first position, then storage of moving backward, and described first Set the position for referring to that the midpoint of vehicle front axle and the midpoint of hind axle are all located on the parking stall central axes；(4) when it far from the distance of parking stall central axes is d that vehicle, which is in the midpoint of non-ideal parking place and front axle, auxiliary is adjusted The angle between plane and axletree where the side of wheel is adjusted to from initial 0The L refers in front axle The distance between point and the tailstock, after angle adjusts, control unit control elevating lever falls auxiliary wheel and lifts vehicle rear jack-up From the ground, first driving device driving auxiliary wheel rotation, auxiliary wheel can generate the midpoint and parking stall for compensating front axle at this time The lateral displacement component of distance, makes vehicle tail go to first position between central axes, then storage of moving backward；(5) when detecting that the distance between automobile tail and parking stall baseline are greater than second value, vehicle is not also complete at this time for judgement It pours into parking stall, needs to continue to move backward；If this distance is less than or equal to second value, judge that vehicle completely into library, is then controlled Vehicle processed stops operation of parking immediately.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810977680.0A CN108979277A (en) | 2018-08-27 | 2018-08-27 | Assist parking apparatus |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810977680.0A CN108979277A (en) | 2018-08-27 | 2018-08-27 | Assist parking apparatus |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108979277A true CN108979277A (en) | 2018-12-11 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810977680.0A Pending CN108979277A (en) | 2018-08-27 | 2018-08-27 | Assist parking apparatus |
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| Country | Link |
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| CN (1) | CN108979277A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109050493A (en) * | 2018-08-27 | 2018-12-21 | 石明磊 | It parks auxiliary wheel group |
| CN112721874A (en) * | 2021-01-28 | 2021-04-30 | 青岛理工大学 | Auxiliary parking device, system and automobile |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102066186A (en) * | 2008-06-11 | 2011-05-18 | 法雷奥开关和传感器有限责任公司 | Method for supporting a driver of a vehicle while parking in a parking space |
| CN102923102A (en) * | 2012-11-08 | 2013-02-13 | 刘民成 | Parking assisting device and method |
| CN103061553A (en) * | 2013-01-09 | 2013-04-24 | 浙江吉利汽车研究院有限公司杭州分公司 | Parking device applicable to side parking spaces |
| CN106985908A (en) * | 2017-03-24 | 2017-07-28 | 吉林大学 | The full-automatic parking apparatus and method of a kind of electric wheel truck |
| CN107299786A (en) * | 2017-07-31 | 2017-10-27 | 合肥巍华智能停车设备有限公司 | One kind has multi-functional carrier vehicle device |
| CN107458353A (en) * | 2017-09-18 | 2017-12-12 | 重庆文理学院 | A kind of automobile omnibearing assistant parking device |
-
2018
- 2018-08-27 CN CN201810977680.0A patent/CN108979277A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102066186A (en) * | 2008-06-11 | 2011-05-18 | 法雷奥开关和传感器有限责任公司 | Method for supporting a driver of a vehicle while parking in a parking space |
| CN102923102A (en) * | 2012-11-08 | 2013-02-13 | 刘民成 | Parking assisting device and method |
| CN103061553A (en) * | 2013-01-09 | 2013-04-24 | 浙江吉利汽车研究院有限公司杭州分公司 | Parking device applicable to side parking spaces |
| CN106985908A (en) * | 2017-03-24 | 2017-07-28 | 吉林大学 | The full-automatic parking apparatus and method of a kind of electric wheel truck |
| CN107299786A (en) * | 2017-07-31 | 2017-10-27 | 合肥巍华智能停车设备有限公司 | One kind has multi-functional carrier vehicle device |
| CN107458353A (en) * | 2017-09-18 | 2017-12-12 | 重庆文理学院 | A kind of automobile omnibearing assistant parking device |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109050493A (en) * | 2018-08-27 | 2018-12-21 | 石明磊 | It parks auxiliary wheel group |
| CN112721874A (en) * | 2021-01-28 | 2021-04-30 | 青岛理工大学 | Auxiliary parking device, system and automobile |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
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| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20181211 |