CN109177970B - Automatic parking method - Google Patents
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- CN109177970B CN109177970B CN201811316763.1A CN201811316763A CN109177970B CN 109177970 B CN109177970 B CN 109177970B CN 201811316763 A CN201811316763 A CN 201811316763A CN 109177970 B CN109177970 B CN 109177970B
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- 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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/06—Automatic manoeuvring for parking
Abstract
The invention relates to an automatic parking method, which comprises a vertical parking method and a lateral parking method, wherein a rectangular coordinate system is established by taking a central point of a parking space as an origin, taking a transverse center line of the parking space as an x-axis, taking a longitudinal center line of the parking space as a y-axis or taking the transverse center line of the parking space as the y-axis and taking the longitudinal center line of the parking space as the x-axis, and the automatic parking method is realized by an automatic parking auxiliary system. The invention has scientific design and reasonable planning, can realize automatic parking in a short time, saves the parking time, has high flexibility, convenience and safety, and can well meet the requirements of practical application.
Description
Technical Field
The invention belongs to the technical field of vehicle engineering, and particularly relates to an automatic parking method.
Background
With the development of economy and social progress, automobile applications have become more and more popular and become an indispensable part of people's daily life. People have higher and higher requirements on the flexibility, convenience and safety of automobile driving. The existing automatic parking auxiliary system has more steps in the process of backing a car, the steps cannot be disordered, a reference object is needed, automatic parking fails if other parked vehicles do not exist beside the existing automatic parking auxiliary system, and the flexibility, convenience and safety of the system can not meet the requirements of practical application.
Disclosure of Invention
In view of the above-mentioned problems of the prior art, it is an object of the present invention to provide an automatic parking method that avoids the above-mentioned drawbacks.
In order to achieve the above object, the present invention provides the following technical solutions:
a rectangular coordinate system is established by taking a central point of a parking space as an original point, taking a transverse central line of the parking space as an x axis, taking a longitudinal central line of the parking space as a y axis or taking the transverse central line of the parking space as the y axis and taking the longitudinal central line of the parking space as the x axis.
Furthermore, the automatic parking method is realized through an automatic parking auxiliary system, the automatic parking auxiliary system is composed of a processor module, a touch display module, an alarm indication module, a radar detection module and a high-definition camera module, and the touch display module, the alarm indication module, the radar detection module and the high-definition camera module are respectively connected with the processor module, and the processor module comprises a data analysis processing module and a parking control module.
Further, the automatic parking method comprises a vertical parking method and a lateral parking method, and all parameters used by the parking method are calculated and generated by a parking control module.
Further, the vertical parking method includes: the parking control module dynamically depicts a longitudinal centerline W1, a lateral centerline W2, and a center point D1 of the marked parking space in the display module.
Further, the vertical parking method further comprises the following steps:
recording a point on W1 at a distance L from D1 as D3, where L is the minimum longitudinal distance available for parking, a straight line C1 passes through point D3 and is parallel to W2, and recording a point on C1 at a distance S from D3 as D2, where S is the minimum transverse distance available for parking; recording the instant center point of the automobile as D5; displaying a longitudinal center line and a transverse center line of the automobile and marking a center point D5 of the automobile on a display module; and D1 is taken as the origin of coordinates, the straight line of W1 is taken as the y axis, the straight line of W2 is taken as the x axis to establish a rectangular coordinate system, and the coordinates of each point are respectively as follows: d1(0,0), D2(S, L), D3(0, L); the D5 coordinate is recorded as (x1, y 1); the included angle between the longitudinal central line of the automobile and the y axis is marked as theta; the radar detection module and the high-definition camera module monitor the position state of the vehicle in real time and display the state information of the vehicle on the touch display module;
when x1 is more than or equal to 0 and less than S, y1 is L and the tail of the automobile faces to a point D3, the automatic parking cannot be carried out, the automobile is controlled to transversely move forwards until the point D5 coincides with the point D2, and the driving distance is | S-x1 |;
when x1 is larger than S, y1 and the tail of the automobile faces to a point D3, the parking condition is not met, automatic parking cannot be carried out, the automobile is controlled to transversely drive backwards until the point D5 coincides with the point D2, and the driving distance is | x1-S |;
when x1 is equal to 0 and y1> L and the tail of the automobile faces to a point D1, the parking condition is not met, automatic parking cannot be carried out, the automobile is controlled to longitudinally drive backwards until the point D5 and the point D3 coincide, and the driving distance is | L-y1 |.
Further, the vertical parking method further comprises the following steps:
when x1 is equal to S, y1 and the tail of the automobile faces to a point D3, finding out a minimum transverse distance S required by parking operation and a longitudinal minimum distance L of a parking space required by parking operation from a truth table of vertical parking operation parameters by a parking control module, executing a standard vertical steering and backing operation by the vertical parking control module through a processor module, carrying out vertical parking until the automobile is driven to a point D5 and is overlapped with a point D1, and finishing parking;
when x1 is equal to 0, y1 is equal to or less than L and the tail of the automobile faces to a point D1, the parking condition is met, the automobile is controlled to longitudinally retreat until D5 is overlapped with the point D1, parking is completed, and the driving distance is | y1 |.
Further, the side parking space parking method comprises the following steps:
the parking control module dynamically depicts a longitudinal center line W1, a transverse center line W2 and a center point D1 of the marked parking space in the display module; recording the instant center point of the automobile as D5; displaying a longitudinal center line and a transverse center line of the automobile and marking a center point D5 of the automobile on a display module; .
Further, the side parking space parking method further comprises the following steps:
the equation of the straight line C1 is y ═ S; and D1 is taken as the origin of coordinates, the straight line of W1 is taken as the x axis, the straight line of W2 is taken as the y axis to establish a rectangular coordinate system, and the coordinates of each point are respectively as follows: d1(0,0), D2(L, S); the D5 coordinate is recorded as (x2, y 2); s and L respectively represent the minimum distance in the y axial direction and the minimum distance in the x axial direction required by the parking operation; the point D0(a,0) is a positioning point on the longitudinal center line W1 of the parking space, and the transverse coordinate a of the point is determined according to the contour of each trolley; the line F1 is an auxiliary line passing through the point D0 and forming an included angle theta with the parking space longitudinal center line W1; point D3 is the intersection of line F1 and line C1.
Further, the side parking space parking method further comprises the following steps: if the y-axial distance between the central point D5 of the automobile and the central point D1 of the parking space is smaller than S, the parking condition is not met, automatic parking cannot be carried out, and the position of the automobile is adjusted, so that the y-axial distance between the central point D5 of the automobile and the central point D1 of the parking space is not smaller than S;
if the x axial distance between the central point D5 of the automobile and the central point D1 of the parking space is smaller than L, the parking condition is not met, automatic parking cannot be carried out, and the position of the automobile is adjusted, so that the x axial distance between the central point D5 of the automobile and the central point D1 of the parking space is not smaller than L;
if the x axial distance between the center point D5(x2, y2) of the automobile and the center point D1 of the parking space is larger than L, the parking control module executes the vertical linear parking standard operation through the processor module, and the parking distance is | x2-L |.
Further, the side parking space parking method further comprises the following steps:
the parking control module executes a standard lateral parking operation through the processor module to perform lateral parking, and after the execution is finished, if S1 is equal to y4 and L1 is equal to x4, the parking control module marks the automobile position state as a third position state;
if L is larger than L1, the lateral parking space parking control module executes a straight-line reversing standard operation through the processor module, the reversing direction is along the longitudinal center line of the automobile body, the reversing distance is L-L1, the straight-line reversing operation is executed, and after the execution is finished, the lateral parking space parking control module marks the position state of the automobile as a third position state;
when the automobile is in a third position state, the parking control module executes direction adjustment reversing standard operation to perform direction adjustment;
the third position state is as follows: the longitudinal center line of the automobile coincides with a straight line F1, the center point D5 coincides with a point D4(x4, y4) between the y axis and D3, and the head faces the direction of leaving the parking space.
The automatic parking method provided by the invention has the advantages of scientific design, reasonable planning and flexible operation steps, can realize parking without reference objects, can realize automatic parking in a short time, saves the parking time, has high flexibility, convenience and safety, and can well meet the requirements of practical application.
Drawings
FIG. 1 is a schematic diagram of embodiment 1;
FIG. 2 is a schematic diagram of embodiment 2;
fig. 3 is a schematic diagram of an interpolation method.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be further described with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The automatic parking auxiliary system consists of a processor module, a touch display module, an alarm indication module, a radar detection module and a high-definition camera module, wherein the touch display module, the alarm indication module, the radar detection module and the high-definition camera module are respectively connected with the processor module, and the processor module comprises a data analysis processing module and a parking control module. The parking control module controls automatic parking control operation on the parking position, and the display module displays the parking state.
Example 1
When the parking space is a vertical parking space relative to the automobile, a vertical parking method is executed, and the method comprises the following steps:
dynamically drawing a longitudinal center line W1, a transverse center line W2 and a center point D1 of the marked parking space by the parking control module on the display module, recording a point with a distance L from D1 on the W1 as D3, wherein L is the minimum longitudinal distance capable of parking, passing a straight line C1 through the point D3 and being parallel to the W2, and recording a point with a distance S from D3 on the C1 as D2, wherein S is the minimum transverse distance capable of parking; recording the instant center point of the automobile as D5; the longitudinal center line and the transverse center line of the automobile and the center point D5 of the marked automobile are displayed on the display module. As shown in fig. 1, when a rectangular coordinate system is established with D1 as the origin of coordinates, the straight line W1 as the y-axis, and the straight line W2 as the x-axis, the coordinates of each point are: d1(0,0), D2(S, L), D3(0, L). The D5 coordinate is noted as (x1, y 1). The included angle between the longitudinal central line of the automobile and the y axis is marked as theta.
The radar detection module and the high-definition camera module monitor the position state of the vehicle in real time and display the state information of the vehicle on the touch display module.
A truth table of the vertical parking operation parameters for the standard operation of vertical parking stall parking is established through experimental tests as follows:
if the precision requirement on the calculation result is higher, an interpolation method can be adopted to correct the data, and the calculation formula of the interpolation method is as follows: l ═ L1+[(L2-L1)/(θ2-θ1)]*(θ-θ1) The schematic diagram of the interpolation method is shown in fig. 3.
When x1 is more than or equal to 0 and less than S, y1 is L and the tail of the automobile faces to a point D3, the automatic parking cannot be carried out, the automobile is controlled to transversely move forwards until the point D5 coincides with the point D2, and the driving distance is | S-x1 |;
when x1 is larger than S, y1 and the tail of the automobile faces to a point D3, the parking condition is not met, automatic parking cannot be carried out, the automobile is controlled to transversely drive backwards until the point D5 coincides with the point D2, and the driving distance is | x1-S |;
when x1 is equal to 0 and y1> L and the tail of the automobile faces to a point D1, the parking condition is not met, automatic parking cannot be carried out, the automobile is controlled to longitudinally drive backwards until the point D5 coincides with the point D3, and the driving distance is | L-y1 |;
when x1 is S, y1 is L and the tail of the automobile faces to a point D3, the parking control module finds out a minimum transverse distance S required by parking operation and a parking space longitudinal minimum distance L required by parking operation from a truth table of vertical parking operation parameters, the vertical parking control module executes a standard operation of vertical steering and reversing through the processor module to perform vertical parking, steering angle control parameters, brake control parameters, speed control parameters and the like used by the parking method are calculated and generated by the parking control module, and the parameters are sent to each execution unit by the recorder through a CAN bus in real time without manual participation or operation until the automobile is driven to a point D5 to coincide with a point D1, so that parking is completed;
when x1 is equal to 0, y1 is equal to or less than L and the tail of the automobile faces to a point D1, the parking condition is met, the automobile is controlled to longitudinally retreat until D5 is overlapped with the point D1, parking is completed, and the driving distance is | y1 |.
Example 2
When the parking space is a lateral parking space relative to the automobile, executing a lateral parking space parking method, wherein the method comprises the following steps:
the parking control module dynamically depicts a longitudinal center line W1, a transverse center line W2 and a center point D1 of the marked parking space in the display module; recording the instant center point of the automobile as D5; the longitudinal center line and the transverse center line of the automobile and the center point D5 of the marked automobile are displayed on the display module. The equation for the straight line C1 is y ═ S. As shown in fig. 2, when a rectangular coordinate system is established with D1 as the origin of coordinates, the straight line W1 as the x-axis, and the straight line W2 as the y-axis, the coordinates of each point are: d1(0,0), D2(L, S). The D5 coordinate is noted as (x2, y 2). S and L represent the y-axis minimum distance and the x-axis minimum distance, respectively, required for a parking operation. Point D2 is the parking available operating threshold point. The angle between the longitudinal central line of the automobile and the W1 is theta.
The point D0(a,0) is a positioning point on the longitudinal center line W1 of the parking space, and the transverse coordinate a of the point is determined according to the contour of each vehicle;
the line F1 is an auxiliary line passing through the point D0 and forming an included angle theta with the parking space longitudinal center line W1; line F1 is parallel to the longitudinal centerline of the vehicle;
point D3 is the intersection of line F1 and line C1.
Calculating the distance between D2 and D3;
vehicle position state 1: the longitudinal center line of the automobile coincides with a straight line C1, the automobile center point D5 coincides with a point D2, and the tail of the automobile faces D3;
vehicle position state 2: the vehicle longitudinal centerline coincides with line C1, and x2> L, head facing D2;
vehicle position state 3: the longitudinal center line of the automobile coincides with a straight line F1, a center point D5 coincides with a point D4(x4, y4) between the y axis and D3, and the head faces the direction of leaving the parking space;
vehicle position state 4: the longitudinal center line of the automobile coincides with a straight line W1, the center point D5 coincides with D1, and the tail of the automobile is at a point D0, namely the parking completion state.
The term "coincide" as used in the present invention means coincide in a coordinate plane.
A truth table of the lateral parking space parking operation parameters of the lateral parking space parking standard operation is established through experimental tests and is as follows:
if the precision requirement on the calculation result is higher, an interpolation method can be adopted to correct the data.
The parking control module finds out the exact values of S and L required by the parking operation from the side parking space parking operation parameter truth table according to the value of theta.
If the y-axial distance between the central point D5 of the automobile and the central point D1 of the parking space is smaller than S, the parking condition is not met, automatic parking cannot be carried out, and the position of the automobile is adjusted, so that the y-axial distance between the central point D5 of the automobile and the central point D1 of the parking space is not smaller than S;
if the x axial distance between the central point D5 of the automobile and the central point D1 of the parking space is smaller than L, the parking condition is not met, automatic parking cannot be carried out, and the position of the automobile is adjusted, so that the x axial distance between the central point D5 of the automobile and the central point D1 of the parking space is not smaller than L;
the parking control module changes the vehicle from one location state to another, and the parking control module packages the required continuous operations into a standard continuous operation command sequence that is executed by the processor module.
If the x axial distance between the central point D5(x2, y2) of the automobile and the central point D1 of the parking space is larger than L, the parking control module executes the vertical linear parking standard operation through the processor module, and the parking distance is | x2-L |;
the parking control module finds out a y-axis minimum distance S required by parking operation and an x-axis minimum distance L required by parking operation from the lateral parking space parking operation parameter truth table according to the value of theta;
the parking control module executes standard operation of lateral parking through the processor module to perform lateral parking, steering angle control parameters, brake control parameters, speed control parameters and the like used by the parking method are calculated and generated by the parking control module, the parameters are sent to each execution unit through a CAN bus by a recorder in real time without manual participation or operation, and after the execution is finished, if S1 is y4 and L is equal to L1 is x4, the parking control module marks the automobile position state as position state 3;
if L is larger than L1, the parking control module executes the linear backing standard operation through the processor module, the backing direction is along the longitudinal center line of the vehicle body, and the backing distance is
Executing a linear backing operation, and after the execution is finished, marking the automobile position state as a position state 3 by the lateral parking space parking control module;
when the automobile is in the position state 3, the parking control module executes the standard operation of direction adjustment and backing, the direction adjustment is carried out, the steering angle control parameter, the brake control parameter, the speed control parameter and the like used by the parking method are calculated and generated by the parking control module, the parameters are sent to each execution unit by the recorder through the CAN bus in real time without manual participation or operation,
after the execution is completed, if x2 is equal to 0 and y2 is equal to 0, the parking control module marks the car position state as position state 4 and parking is completed.
The automatic parking method provided by the invention has the advantages of scientific design, reasonable planning and flexible operation steps, can realize parking without reference objects, can realize automatic parking in a short time, saves the parking time, has high flexibility, convenience and safety, and can well meet the requirements of practical application.
The above-mentioned embodiments only express the embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (6)
1. An automatic parking method is characterized in that a rectangular coordinate system is established by taking a central point of a parking space as an original point, taking a transverse central line of the parking space as an x axis, taking a longitudinal central line of the parking space as a y axis or taking the transverse central line of the parking space as the y axis and taking the longitudinal central line of the parking space as the x axis;
the automatic parking method is realized through an automatic parking auxiliary system, the automatic parking auxiliary system consists of a processor module, a touch display module, an alarm indication module, a radar detection module and a high-definition camera module, wherein the touch display module, the alarm indication module, the radar detection module and the high-definition camera module are respectively connected with the processor module;
the automatic parking method comprises a vertical parking method and a lateral parking method, wherein all parameters used by the parking method are calculated and generated by a parking control module;
the vertical parking method comprises the following steps: the parking control module dynamically depicts a longitudinal center line W1, a transverse center line W2 and a center point D1 of the marked parking space in the display module;
recording a point on W1 at a distance L from D1 as D3, where L is the minimum longitudinal distance available for parking, a straight line C1 passes through point D3 and is parallel to W2, and recording a point on C1 at a distance S from D3 as D2, where S is the minimum transverse distance available for parking; recording the instant center point of the automobile as D5; displaying a longitudinal center line and a transverse center line of the automobile and marking a center point D5 of the automobile on a display module; and D1 is taken as the origin of coordinates, the straight line of W1 is taken as the y axis, the straight line of W2 is taken as the x axis to establish a rectangular coordinate system, and the coordinates of each point are respectively as follows: d1(0,0), D2(S, L), D3(0, L); the D5 coordinate is recorded as (x1, y 1); the included angle between the longitudinal central line of the automobile and the y axis is marked as theta; the radar detection module and the high-definition camera module monitor the position state of the vehicle in real time and display the state information of the vehicle on the touch display module;
when x1 is more than or equal to 0 and less than S, y1 is L and the tail of the automobile faces to a point D3, the automatic parking cannot be carried out, the automobile is controlled to transversely move forwards until the point D5 coincides with the point D2, and the driving distance is | S-x1 |;
when x1 is larger than S, y1 and the tail of the automobile faces to a point D3, the parking condition is not met, automatic parking cannot be carried out, the automobile is controlled to transversely drive backwards until the point D5 coincides with the point D2, and the driving distance is | x1-S |;
when x1 is equal to 0 and y1> L and the tail of the automobile faces to a point D1, the parking condition is not met, automatic parking cannot be carried out, the automobile is controlled to longitudinally drive backwards until the point D5 and the point D3 coincide, and the driving distance is | L-y1 |.
2. The method of claim 1, wherein the vertical parking method further comprises:
when x1 is equal to S, y1 and the tail of the automobile faces to a point D3, finding out a minimum transverse distance S required by parking operation and a longitudinal minimum distance L of a parking space required by parking operation from a truth table of vertical parking operation parameters by a parking control module, executing a standard operation of vertical steering and backing by the parking control module through a processor module, carrying out vertical parking until the automobile is driven to a point D5 and is overlapped with a point D1, and finishing parking;
when x1 is equal to 0, y1 is equal to or less than L and the tail of the automobile faces to a point D1, the parking condition is met, the automobile is controlled to longitudinally retreat until D5 is overlapped with the point D1, parking is completed, and the driving distance is | y1 |.
3. The method of claim 1, wherein the side car parking method comprises:
the parking control module dynamically depicts a longitudinal center line W1, a transverse center line W2 and a center point D1 of the marked parking space in the display module; recording the instant center point of the automobile as D5; the longitudinal center line and the transverse center line of the automobile and the center point D5 of the marked automobile are displayed on the display module.
4. The method of claim 3, wherein the side car parking method further comprises:
the equation of the straight line C1 is y ═ S; and D1 is taken as the origin of coordinates, the straight line of W1 is taken as the x axis, the straight line of W2 is taken as the y axis to establish a rectangular coordinate system, and the coordinates of each point are respectively as follows: d1(0,0), D2(L, S); the D5 coordinate is recorded as (x2, y 2); s and L respectively represent the minimum distance in the y axial direction and the minimum distance in the x axial direction required by the parking operation; the point D0(a,0) is a positioning point on the longitudinal center line W1 of the parking space, and the transverse coordinate a of the point is determined according to the contour of each trolley; the line F1 is an auxiliary line passing through the point D0 and forming an included angle theta with the parking space longitudinal center line W1; point D3 is the intersection of line F1 and line C1.
5. The method of claim 4, wherein the side car parking method further comprises: if the y-axial distance between the central point D5 of the automobile and the central point D1 of the parking space is smaller than S, the parking condition is not met, automatic parking cannot be carried out, and the position of the automobile is adjusted, so that the y-axial distance between the central point D5 of the automobile and the central point D1 of the parking space is not smaller than S;
if the x axial distance between the central point D5 of the automobile and the central point D1 of the parking space is smaller than L, the parking condition is not met, automatic parking cannot be carried out, and the position of the automobile is adjusted, so that the x axial distance between the central point D5 of the automobile and the central point D1 of the parking space is not smaller than L;
if the x axial distance between the center point D5(x2, y2) of the automobile and the center point D1 of the parking space is larger than L, the parking control module executes the vertical linear parking standard operation through the processor module, and the parking distance is | x2-L |.
6. The method of claim 5, wherein the side car parking method further comprises:
the parking control module executes a standard lateral parking operation through the processor module to perform lateral parking, and after the execution is finished, if S1 is equal to y4 and L1 is equal to x4, the parking control module marks the automobile position state as a third position state;
if L is larger than L1, the parking control module executes the linear backing standard operation through the processor module, the backing direction is along the longitudinal center line of the vehicle body, and the backing distance is
The linear backing operation is executed, and after the execution is finished, the control moduleMarking the automobile position state as a third position state;
when the automobile is in a third position state, the parking control module executes direction adjustment reversing standard operation to perform direction adjustment;
the third position state is as follows: the longitudinal center line of the automobile coincides with a straight line F1, the center point D5 coincides with a point D4(x4, y4) between the y axis and D3, and the head faces the direction of leaving the parking space.
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| CN110271537B (en) * | 2019-06-04 | 2020-10-16 | 浙江吉利控股集团有限公司 | Automatic parking method, device and equipment |
| CN111754809A (en) * | 2020-06-22 | 2020-10-09 | 重庆长安汽车股份有限公司 | Mobile phone APP remote control parking dynamic display method and system, vehicle and storage medium |
| CN112590772B (en) * | 2020-12-15 | 2022-06-10 | 阿波罗智联(北京)科技有限公司 | Vehicle state monitoring method, device, equipment and storage medium |
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| CN107235077A (en) * | 2016-03-29 | 2017-10-10 | 长城汽车股份有限公司 | Parking assistance method, system and the vehicle of vehicle |
| CN105857306B (en) * | 2016-04-14 | 2018-07-10 | 中国科学院合肥物质科学研究院 | A kind of vehicle autonomous parking paths planning method for a variety of scenes of parking |
| CN107776570B (en) * | 2017-09-19 | 2020-09-01 | 广州汽车集团股份有限公司 | Full-automatic parking method and full-automatic parking system |
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