CN109677398A - Automatic parking method, apparatus and automobile - Google Patents
Automatic parking method, apparatus and automobile Download PDFInfo
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- CN109677398A CN109677398A CN201910132443.9A CN201910132443A CN109677398A CN 109677398 A CN109677398 A CN 109677398A CN 201910132443 A CN201910132443 A CN 201910132443A CN 109677398 A CN109677398 A CN 109677398A
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- 238000000034 method Methods 0.000 title claims abstract description 41
- 230000036544 posture Effects 0.000 claims abstract description 115
- 238000001514 detection method Methods 0.000 claims abstract description 37
- 238000004590 computer program Methods 0.000 claims description 6
- 238000004364 calculation method Methods 0.000 claims description 5
- 238000005516 engineering process Methods 0.000 abstract description 6
- 238000010586 diagram Methods 0.000 description 14
- 230000006870 function Effects 0.000 description 13
- 238000004891 communication Methods 0.000 description 6
- 230000008569 process Effects 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 230000033001 locomotion Effects 0.000 description 3
- 230000004888 barrier function Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000002604 ultrasonography Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/06—Automatic manoeuvring for parking
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Traffic Control Systems (AREA)
Abstract
The application provides a kind of automatic parking method, apparatus and automobile, is related to field of automation technology.Wherein, the method by detection the adjacent area of target area two on two park cars between minimum range and park posture, then it according to the minimum range and parks posture and judges the target area if appropriate for parking, and when determining that the target area is suitble to park, park posture and stop position in the target area are determined according to described two postures of parking to park cars.Pass through this method, can be used when parking space is limited reasonably park posture and stop position with meet park after user open the door and get on or off the bus and moor out from vehicle required space, and reduce requirement of the automobile to parking space, realization is parked in smaller region, and then promotes the experience of parking of user.
Description
Technical field
This application involves fields of automation technology, in particular to a kind of automatic parking method, apparatus and automobile.
Background technique
Automatic parking is using ultrasonic radar sensor technology or ultrasonic radar sensor and vehicle-mounted image zooming-out
Equipment integration technology, obtains the information of parking area, finds and determine the length and width of target parking space, in conjunction with from vehicle
Vehicle width and vehicle commander are simultaneously calculated by control unit, and a kind of parking ancillary technique of parking route is automatically generated.What is parked
The case where parking route periphery being detected by sensor technology in the process, prevents from colliding with barrier, park to reduce
Difficulty.
But automatic parking function used at present is when controlling automobile and mooring into parking stall, it will usually make from vehicle and two sides or
Maximum distance (i.e. approximately equal at a distance from he of two sides or both ends vehicle from vehicle) is kept simultaneously between his vehicle at both ends, is not considered
Park the concrete conditions such as posture from vehicle and Ta Che, therefore, often occur when parking space is limited after parking from vehicle or he
The problem that it is inconvenient that vehicle is got on or off the bus.
Summary of the invention
In view of this, the application provides a kind of automatic parking method, apparatus and automobile, to solve the above problems.
To achieve the goals above, the application preferred embodiment the technical solution adopted is as follows:
In a first aspect, the embodiment of the present application provides a kind of automatic parking method, it is applied to automobile, which comprises
Whether two adjacent areas of detection target area have parked vehicle；
When described two adjacent areas have parked vehicle, detection two park cars between minimum spacing and two
What is parked cars parks posture, wherein the posture of parking includes headstock direction；
According to the minimum spacing and it is described two park cars park posture judge the target area if appropriate for
It parks；
When determining that the target area is suitble to park, determined according to described two postures of parking to park cars described
Park posture and the stop position of target area；
According to park posture and the stop position planning parking route, and automobile parking is controlled according to the parking route
Onto the stop position.
Optionally, in the embodiment of the present application, the automobile includes distance detection device and image collecting device, the inspection
Survey two park cars between minimum spacing and two park cars the step of parking posture, comprising:
According to the obstacle distance information that the distance detection device acquires, obtain between described two park cars most
Small spacing；
According to described image acquisition device acquire image information, obtain it is described two park cars park posture,
In, the posture of parking includes headstock direction.
Optionally, described according to the minimum spacing and described two postures of parking to park cars judge the target area
The step of domain is if appropriate for parking, comprising:
It is detecting that described two park cars parallel parking and when the minimum spacing is less than the first preset threshold, is determining
The target area is not suitable for parking；
When detecting that described two same columns that park cars are parked and the minimum spacing is less than the second preset threshold, determine
The target area is not suitable for parking, wherein second preset threshold is greater than first preset threshold.
Optionally, it is described according to it is described two park cars park posture determine the target area posture of parking
And the step of stop position, comprising:
According to it is described two park cars park posture determine the target area posture of parking；
According to it is described park Attitude Calculation in the case where this parks posture relative to described two first objects to park cars away from
From with the second target range；
The stop position in the target area is obtained according to the first object distance and the second target range.
Optionally, it is described according to it is described two park cars park posture determine the target area posture of parking
The step of, comprising:
Detect it is described two park cars parallel parking and park towards it is identical when, park vehicle using with described two
It is parked towards opposite posture of parking；
Detect it is described two park cars parallel parking and park towards it is opposite when, using with wherein one towards phase
Same posture of parking is parked；
When detecting that described two same columns that park cars are parked, using with described two appearances of parking arranged side by side that park cars
State is parked.
Second aspect, the embodiment of the present application provide a kind of automatic parking device, are applied to automobile, and described device includes:
Whether first detection module, two adjacent areas for detecting target area have parked vehicle；
Second detection module, for when described two adjacent areas have parked vehicle, detection two to park cars it
Between minimum spacing and two park cars park posture, wherein the posture of parking includes headstock direction；
Judgment module, for judging the target according to the minimum spacing and described two postures of parking to park cars
Region is if appropriate for parking；
Computing module, for when determining that the target area is suitble to park, according to it is described two park cars park
Posture determines park posture and the stop position in the target area；
Control module, for posture and the stop position planning parking route of parking according to, and according to the road of parking
In line traffic control automobile parking to the stop position.
Optionally, in the embodiment of the present application, the automobile includes distance detection device and image collecting device, and described
Two detection modules are specifically used for:
According to the obstacle distance information that the distance detection device acquires, obtain between described two park cars most
Small spacing；
According to described image acquisition device acquire image information, obtain it is described two park cars park posture,
In, the posture of parking includes headstock direction.
Optionally, in the embodiment of the present application, the judgment module is specifically used for:
It is detecting that described two park cars parallel parking and when the minimum spacing is less than the first preset threshold, is determining
The target area is not suitable for parking；
When detecting that described two same columns that park cars are parked and the minimum spacing is less than the second preset threshold, determine
The target area is not suitable for parking, wherein second preset threshold is greater than first preset threshold.
Optionally, in the embodiment of the present application, the computing module is specifically used for:
According to it is described two park cars park posture determine the target area posture of parking；
According to it is described park Attitude Calculation in the case where this parks posture relative to described two first objects to park cars away from
From with the second target range；
The stop position in the target area is obtained according to the first object distance and the second target range.
The third aspect, the embodiment of the present application provide a kind of automobile, and the automobile includes memory and processor, wherein institute
Memory is stated for storing computer program, the processor is for computer program described in load and execution, so that the automobile
Execute method as described above.
In terms of existing technologies, the application has the advantages that
Automatic parking method provided by the embodiments of the present application is parked by two on the detection adjacent area of target area two
Minimum range between vehicle and posture is parked, then according to the minimum range and parks posture and judge whether the target area fits
Conjunction is parked, and when determining that the target area is suitble to park, and is determined according to described two postures of parking to park cars
Park posture and the stop position of the target area.In this way, can be when parking space be limited using reasonable pool
Vehicle posture and stop position with meet park after from space needed for vehicle and Ta Che, reduce requirement of the automobile to parking space, it is real
It parks in present smaller region, and then promotes the automatic parking experience of user.
Detailed description of the invention
Technical solution in ord to more clearly illustrate embodiments of the present application, below will be to needed in the embodiment attached
Figure is briefly described, it should be understood that the following drawings illustrates only some embodiments of the application, therefore is not construed as pair
The restriction of range for those of ordinary skill in the art without creative efforts, can also be according to this
A little attached drawings obtain other relevant attached drawings.
Fig. 1 is the decision structure schematic diagram of parking of automobile provided by the embodiments of the present application；
Fig. 2 is the step flow diagram of automatic parking method provided by the embodiments of the present application；
Fig. 3 is the effect diagram for the automatic parking method that the prior art provides；
Fig. 4-Figure 11 is the effect diagram of automatic parking method provided by the embodiments of the present application；
Figure 12 is the module diagram of automatic parking device provided by the embodiments of the present application.
Icon: 10- is from vehicle；The first vehicle of 11-；The second vehicle of 12-；100- automobile；110- automatic parking device；1101-
First detection module；The second detection module of 1102-；1103- judgment module；1104- computing module；1105- control module；111-
Memory；112- processor；113- communication unit.
Specific embodiment
To keep the purposes, technical schemes and advantages of the embodiment of the present application clearer, below in conjunction with the embodiment of the present application
In attached drawing, the technical scheme in the embodiment of the application is clearly and completely described, it is clear that described embodiment is
Some embodiments of the present application, instead of all the embodiments.The application being usually described and illustrated herein in the accompanying drawings is implemented
The component of example can be arranged and be designed with a variety of different configurations.
Therefore, the detailed description of the embodiments herein provided in the accompanying drawings is not intended to limit below claimed
Scope of the present application, but be merely representative of the selected embodiment of the application.Based on the embodiment in the application, this field is common
Technical staff's all other embodiment obtained without creative efforts belongs to the model of the application protection
It encloses.
It should also be noted that similar label and letter indicate similar terms in following attached drawing, therefore, once a certain Xiang Yi
It is defined in a attached drawing, does not then need that it is further defined and explained in subsequent attached drawing.
In the description of the present application, it should be noted that the naming methods such as term " first ", " second " are merely to distinguish
The different characteristic of the application, simplifies description, rather than indication or suggestion its relative importance, therefore should not be understood as to the application
Limitation.
With reference to the accompanying drawing, it elaborates to some embodiments of the application.In the absence of conflict, following
Feature in embodiment and embodiment can be combined with each other.
Fig. 1 is please referred to, Fig. 1 is the decision structure schematic diagram of parking of automobile 100 provided by the embodiments of the present application.The automobile
100 include automatic parking device 110, memory 111, processor 112 and communication unit 113.
Each element of the memory 111, processor 112 and communication unit 113 is directly or indirectly electrical between each other
Connection, to realize the transmission or interaction of data.For example, these elements can pass through one or more communication bus or letter between each other
Number line, which is realized, to be electrically connected.
Wherein, the memory 111 may be, but not limited to, random access memory (English: Random Access
Memory, referred to as: RAM), read-only memory (English: Read Only Memory, referred to as: ROM), programmable read only memory
(English: Programmable Read-Only Memory, referred to as: PROM), erasable read-only memory (English: Erasable
Programmable Read-Only Memory, referred to as: EPROM), electricallyerasable ROM (EEROM) (English: Electric
Erasable Programmable Read-Only Memory, referred to as: EEPROM) etc..Wherein, memory 111 is for storing
Program, the processor 112 execute described program after receiving and executing instruction.The communication unit 113 is for passing through network
The communication connection between the processor 112 and other equipment (data acquisition device, execution unit) is established, and for passing through net
Network carries out sending and receiving for data.
The automatic parking device 110 includes that at least one can be stored in institute in the form of software or firmware (firmware)
It states in memory 111 or is solidificated in the operating system (English: Operating System, abbreviation: OS) of the automobile 100
Software function module.The processor 112 is for executing the executable module stored in the memory 111, such as automatic pool
Software function module included by vehicle device 110 and computer program etc..In the present embodiment, the automatic parking device 110 is
Automobile 100 provides automatic parking function, and concrete function will be described in detail in a later process.
It should be understood that structure shown in FIG. 1 is only schematic diagram, the automobile 100 can also include than shown in Fig. 1
More perhaps less component or with the configuration different from shown in Fig. 1.Each component shown in Fig. 1 can using hardware,
Software or combinations thereof is realized.
It is the step flow diagram of automatic parking method provided by the embodiments of the present application referring to Fig. 2, this method can answer
For automobile 100 shown in FIG. 1, automatic parking function as described below is provided for the automobile 100.
Automatic parking method provided by the present application is described in detail below with reference to Fig. 2.
Referring to Fig. 2, in the embodiment of the present application, which comprises
Whether step S10, two adjacent areas for detecting target area have parked vehicle.
In the embodiment of the present application, the automobile 100 may include distance detection device and image collecting device, wherein
The distance detection device may be, but not limited to, ultrasonic radar, and described image acquisition device, which may be, but not limited to, looks around
Camera.
Specifically, in a kind of possible embodiment, ultrasound can be issued to target area by the ultrasonic radar
Then whether wave signal has been parked according to two adjacent areas that the detection of the backscatter signal of the ultrasonic signal goes out target area
Vehicle.
Alternatively, in alternatively possible embodiment, can also by the collected signal of the ultrasonic radar with
The image for looking around camera acquisition combines, to detect whether two adjacent areas of the target area have parked vehicle
?.
Further, with continued reference to Fig. 2, after step slo, the method also includes:
Step S20, when described two adjacent areas have parked vehicle, detection two park cars between minimum between
Away from and two park cars park posture, wherein the posture of parking includes headstock direction.
In the embodiment of the present application, if detecting, two adjacent areas of the target area have parked vehicle, can be with
It is further by the collected obstacle distance information of the ultrasonic radar and from the direction of motion and movement velocity of vehicle 10
Calculate two park cars between minimum spacing, while by it is described look around camera acquisition image carry out image knowledge
, do not identify further two park cars park posture, wherein this parks the headstock direction that posture may include automobile.
Specifically, during identifying described two headstocks directions to park cars, preset Automobile can be passed through
Head characteristic information and tailstock characteristic information handle the image for looking around camera acquisition, obtain described two parking vehicle
Headstock direction, and then obtain it and park posture.
It, can also be by the obstacle that is detected to the ultrasonic radar it should be noted that in the embodiment of the present application
Object range information is handled, obtain it is described two park cars park posture, obtained in conjunction with the headstock or the tailstock recognized
To described two headstock directions to park cars.
Further, with continued reference to Fig. 2, after step S20, the method also includes:
Step S30 judges the target area according to the minimum spacing and described two postures of parking to park cars
If appropriate for parking.
In order to sufficiently stop using free area, the parking pressure as caused by the deficiency of parking stall is reduced, in the application reality
Apply in example, by two of detection target area adjacent area (left and right or front and back) park cars between minimum range and should
Two park cars park posture, then reasonably calculated, judge the target area if appropriate for parking.
Specifically, in the embodiment of the present application, if detecting, described two park cars is paralleled parking, and between two vehicles
Minimum spacing then determines that the target area is not suitable for parking less than the first preset threshold；If detecting described two park cars
Same column is parked, and the minimum spacing between two vehicles then determines that the target area is not suitable for parking less than the second preset threshold.Its
In, it should be appreciated that described parallel parking indicates described two and parks cars in length of wagon extending direction parallel (i.e. one
Parking stall is in the side of another vehicle), the same column, which is parked, indicates that wherein a parking stall is in the headstock or the tailstock of another vehicle.
And, it is to be noted however that it is described parallel parking to park with same column indicate described two to park cars substantially
Positional relationship.In other words, in the embodiment of the present application, when described two directions of parking to park cars have certain angle
When, it also can be determined that described two park cars is paralleled parking or same column is parked.
Further, in the embodiment of the present application, first preset threshold can according to the body width from vehicle 10 with
And the minimum space for opening the door required from vehicle 10 determines；Second preset threshold can according to from vehicle 10 length of wagon and from
Minimum space needed for vehicle 10 is driven out to parking stall determines.
It should be understood that described two park cars may include that others park posture, for example, wherein one to the left
Inclination, another is tilted to the right.In the embodiment of the present application, the minimum spacing between described two park cars only is needed to be greater than institute
The first preset threshold or second preset threshold are stated, that is, can determine that the target area is suitble to stop.
Further, with continued reference to Fig. 2, after step S30, the method also includes:
Step S40, when determining that the target area is suitble to park, according to it is described two park cars to park posture true
It is scheduled on park posture and the stop position of the target area.
It is the effect diagram of parking method in the prior art referring to Fig. 3.When the first vehicle for being located at target area side
11 and the spacing between the second vehicle 12 of target area other side when being D+2w (wherein D is from 10 vehicle width of vehicle), it is complete
It from vehicle 10 relative to the spacing of first vehicle 11 and the second vehicle 12 is w at after parking.
In the embodiment of the present application, it is contemplated that when the spacing between the first vehicle 11 and the second vehicle 12 is too small, will lead to
It is too small relative to the spacing w of the first vehicle 11 and the second vehicle 12 from vehicle 10, and then occur being inconvenient to out from vehicle 10 and Ta Che are equal
The case where door.And for automobile parking, it need to only guarantee that driver side has sufficient space enabling, therefore, in the application reality
Apply in example, according to it is described two park cars park posture determine the target area park posture and stop position.
Specifically, in the embodiment of the present application, it is determined according to described two postures of parking to park cars in the target
Region park posture and stop position when may include following several situations:
Referring to Fig. 4, when detecting the first vehicle 11 positioned at target area side and the positioned at the target area other side
Two vehicles 12 are paralleled parking, and two vehicle headstocks directions are outside (it is outside to park rear automobile head), and between the minimum between two vehicles
When away from being greater than first preset threshold, can using with first vehicle 11 and the second vehicle 12 towards opposite appearance of parking
State is parked and (will inwardly be parked from vehicle 10), makes the driver side from the driver side of vehicle 10 close to second vehicle 12, together
When make from the passenger side side of vehicle 10 close to the passenger side side of first vehicle 11.Thus one, from vehicle 10 and second vehicle 12
The same space can be used to open the door, and from the passenger side side of vehicle 10 without space needed for reserved open the door.It therefore, at this time can will be from vehicle
The second target range between 10 and second vehicle 12 is set as w+d (w, d are positive number), will be from vehicle 10 and described first
First object distance between vehicle 11 is set as w-d, is then determined according to the first object distance and the second target range
Stop position in the target area.For result shown in Fig. 3 of parking, under conditions of identical parking space,
Increase the enabling space from vehicle 10 and Ta Che.In other words, it can be with by automatic parking method provided by the embodiments of the present application
Automatic parking is realized in smaller space.
Referring to Fig. 5, similarly, when detect positioned at target area side the first vehicle 11 and to be located at target area another
Second vehicle 12 of side is paralleled parking, and two vehicle headstocks directions are inside, and the minimum spacing between two vehicles is greater than described first in advance
If when threshold value, can be parked using headstock towards outside posture of parking, make the driver side from vehicle 10 close to described first
The driver side of vehicle 11, while making from the passenger side side of vehicle 10 close to the passenger side side of second vehicle 12, and will be opposite from vehicle 10
It is set as w+d in the first object distance of first vehicle 11, by the second mesh from vehicle 10 relative to second vehicle 12
Subject distance is set as w-d.
It should be understood that in the embodiment of the present application, w+d and w-d only indicate the first object distance and the second mesh
The size relation of subject distance, be not used to limit between vehicle 10 and first vehicle 11 and the second vehicle 12 it is opposite away from
From.
Further, Fig. 6 and Fig. 7 are please referred to, when detect positioned at target area side the first vehicle 11 and be located at mesh
Second vehicle 12 of the mark region other side parallels parking (wherein, the first vehicle 11 is parked outward, and the second vehicle 12 is inwardly parked),
And two minimum spacings between vehicle is when being greater than first preset threshold, it can be using the posture of parking parked outward (such as Fig. 6 institute
Show), first object distance it will be set as w+d between vehicle 10 and the first vehicle 11, it will be between vehicle 10 and the second vehicle 12
Second target range is set as w-d；Can also be using the posture of parking (as shown in Figure 7) inwardly parked, it will be from vehicle 10 and first
First object distance between vehicle 11 is set as w-d, and the second target range between vehicle 10 and the second vehicle 12 is arranged
For w+d.
Further, Fig. 8 and Fig. 9 are please referred to, in the embodiment of the present application, when detecting the positioned at target area side
One vehicle 11 and positioned at the target area other side the second vehicle 12 inclination park when, if first vehicle 11 and the second vehicle
Minimum spacing between 12 is greater than first preset threshold, also can be determined that the target area is suitble to stop.Specifically, if
First vehicle 11 is tilted to the right with second vehicle 12, and first vehicle 11 and the second vehicle 12 stop outward
(as shown in Figure 8) is put, can be parked using the posture of parking inwardly parked, to ensure from vehicle 10 and second vehicle 12
Between there is sufficient enabling space；If first vehicle 11 is tilted to the left with second vehicle 12, and described first
Vehicle 11 is inwardly parked, and second vehicle 12 is parked outward, can be parked using the posture of parking parked outward, with true
Protecting has sufficient enabling space between vehicle 10 and first vehicle 11.
Further, Figure 10 is please referred to, in the embodiment of the present application, when detecting the first vehicle positioned at target area one end
11 and when being parked positioned at 12 same column of the second vehicle of the target area other end, if first vehicle 11 and second vehicle
Minimum spacing between 12 is greater than second preset threshold, can by from vehicle 10 relative to the first vehicle 11 first object away from
From L-m is set as, L+m is set by the second target range from vehicle 10 relative to the second vehicle 12.Wherein, L, m are positive number,
Similarly, L+m and L-m only indicates the size relation of the first object distance and the second target range, is not used to limit certainly
Relative distance between vehicle 10 and first vehicle 11 and the second vehicle 12.
It should be noted that in the embodiment of the present application, may include, but it is not limited to above-described several implementation feelings
Condition can obtain other embodiments to those skilled in the art according to above-described embodiment.For example, when automobile is driven
It, can also be by ensuring to meet from vehicle 10 and the right side of the space Ta Che the enabling space of driver side when sailing side and being located at the right of automobile
Demand.
Further, with continued reference to Fig. 2, after the step S40, the method also includes:
Step S50 according to park posture and the stop position planning parking route, and is controlled according to the parking route
In automobile parking to the stop position.
In the embodiment of the present application, after obtaining park posture and the stop position through the above steps, control automobile with
The posture of parking, which is parked in the stop position, can be completed automatic parking.Specifically, in parking process can pass through institute
Processor 112 is stated to control to realize automatic parking the execution units such as automotive throttle, brake and steering wheel.
Figure 11 is please referred to, in the embodiment of the present application, when there are two or more applicable pools for current scene
When vehicle posture and stop position, a plurality of parking route can be generated and selected for user, the parking route then selected according to user
Control running car is parked to the corresponding stop position of the parking route, and with the corresponding posture of parking of the parking route,
Wherein, each parking route corresponding one is parked posture and a stop position.For example, when user's selection keeps right and parks, and lean on
The corresponding posture of parking of right parking route is that when parking outward, can control automobile and moored in a manner of moving backward into the target area
Domain, and it is parked in the corresponding stop position of the parking route.
Referring to Fig.1 2, it is the module diagram of automatic parking device 110 provided by the embodiments of the present application, which can answer
For automobile shown in FIG. 1, above-mentioned automatic parking function is provided for the automobile.
Specifically, described device includes:
Whether first detection module 1101, two adjacent areas for detecting target area have parked vehicle.
Second detection module 1102, for when described two adjacent areas have parked vehicle, vehicle to be parked in detection two
What minimum spacing between and two parked cars parks posture, wherein the posture of parking includes headstock direction.
Judgment module 1103, for according to the minimum spacing and it is described two park cars park posture judgement described in
Target area is if appropriate for parking.
Computing module 1104 is parked cars according to described two for when determining that the target area is suitble to park
Park determining park posture and the stop position in the target area of posture.
Control module 1105, for posture and the stop position planning parking route of parking according to, and according to the pool
In bus or train route line traffic control automobile parking to the stop position.
Further, in the embodiment of the present application, the automobile includes distance detection device and image collecting device, described
Second detection module 1102 is specifically used for:
According to the obstacle distance information that the distance detection device acquires, obtain between described two park cars most
Small spacing；
According to described image acquisition device acquire image information, obtain it is described two park cars park posture,
In, the posture of parking includes headstock direction.
Further, in the embodiment of the present application, the judgment module 1103 is specifically used for:
It is detecting that described two park cars parallel parking and when the minimum spacing is less than the first preset threshold, is determining
The target area is not suitable for parking；
When detecting that described two same columns that park cars are parked and the minimum spacing is less than the second preset threshold, determine
The target area is not suitable for parking, wherein second preset threshold is greater than first preset threshold.
Further, in the embodiment of the present application, the computing module 1104 is specifically used for:
According to it is described two park cars park posture determine the target area posture of parking；
According to it is described park Attitude Calculation in the case where this parks posture relative to described two first objects to park cars away from
From with the second target range；
The stop position in the target area is obtained according to the first object distance and the second target range.
In the embodiment of the present application, the above modules realize that the detailed process of its function can be with reference to the above method, this
Place is no longer repeated.
It should be noted that the device and method proposed in the embodiment of the present application, it can also be by another way
It realizes.Embodiments described above is only schematical, for example, the flow chart and block diagram in the drawings show according to this Shen
The architecture, function and operation in the cards of the devices of multiple embodiments please, method and computer program product.At this
On point, each box in flowchart or block diagram can represent a part of a module, section or code, the module,
A part of program segment or code includes one or more executable instructions for implementing the specified logical function.It should also be as infusing
Meaning, in some implementations as replacement, function marked in the box can also be different from being marked in attached drawing
Sequence occurs.For example, two continuous boxes can actually be basically executed in parallel, they sometimes can also be by opposite suitable
Sequence executes, and this depends on the function involved.It is also noted that each box and block diagram in block diagram and or flow chart
And/or the combination of the box in flow chart, can function or movement as defined in executing dedicated hardware based system come
It realizes, or can realize using a combination of dedicated hardware and computer instructions.
In addition, each functional module in each embodiment of the application can integrate one independent portion of formation together
Point, it is also possible to modules individualism, an independent part can also be integrated to form with two or more modules.
In conclusion the embodiment of the present application provides a kind of automatic parking method, apparatus and automobile.Wherein, the method is logical
Cross detection the adjacent area of target area two on two park cars between minimum range and park posture, then most according to this
It small distance and parks posture and judges the target area if appropriate for parking, and when determining that the target area is suitble to park,
According to it is described two park cars park posture determine the target area park posture and stop position.Pass through the party
Method, can be used when parking space is limited reasonably park posture and stop position with meet park after from needed for vehicle and Ta Che
Space, reduce requirement of the automobile to parking space, realization is parked in smaller region, and then promotes the automatic parking of user
Experience.
Embodiment described above, the only specific embodiment of the application, to illustrate the technical solution of the application, rather than
It is limited, the protection scope of the application is not limited thereto, although having carried out with reference to the foregoing embodiments to the application detailed
Illustrate, those skilled in the art should understand that: anyone skilled in the art discloses in the application
In technical scope, it can still modify to technical solution documented by previous embodiment or variation can be readily occurred in, or
Person's equivalent replacement of some of the technical features；And these modifications, variation or replacement, do not make corresponding technical solution
Essence is detached from the spirit and scope of the embodiment of the present application technical solution, should all cover within the scope of protection of this application.Therefore,
The protection scope of the application should be based on the protection scope of the described claims.
Claims (10)
1. a kind of automatic parking method, which is characterized in that be applied to automobile, which comprises
Whether two adjacent areas of detection target area have parked vehicle；
When described two adjacent areas have parked vehicle, detection two park cars between minimum spacing and two park
Vehicle parks posture, wherein the posture of parking includes headstock direction；
Judge the target area if appropriate for parking according to the minimum spacing and described two postures of parking to park cars；
When determining that the target area is suitble to park, determined according to described two postures of parking to park cars in the target
Park posture and the stop position in region；
According to park posture and the stop position planning parking route, and automobile parking is controlled to institute according to the parking route
It states on stop position.
2. the method as described in claim 1, which is characterized in that the automobile includes distance detection device and image collector
Set, it is described detection two park cars between minimum spacing and two park cars the step of parking posture, comprising:
According to the obstacle distance information that the distance detection device acquires, obtain between the minimum between described two park cars
Away from；
According to described image acquisition device acquire image information, obtain it is described two park cars park posture, wherein institute
Stating and parking posture includes headstock direction.
3. method according to claim 2, which is characterized in that described according to the minimum spacing and described two to park cars
Posture of parking judge the step of target area is if appropriate for parking, comprising:
Detecting that described two park cars parallel parking and when the minimum spacing is less than the first preset threshold, described in judgement
Target area is not suitable for parking；
When detecting that described two same columns that park cars are parked and the minimum spacing is less than the second preset threshold, described in judgement
Target area is not suitable for parking, wherein second preset threshold is greater than first preset threshold.
4. method as claimed in claim 3, which is characterized in that described to be determined according to described two postures of parking to park cars
The target area park posture and stop position the step of, comprising:
According to it is described two park cars park posture determine the target area posture of parking；
According to it is described park Attitude Calculation in the case where this parks posture relative to described two first object distances to park cars and
Second target range；
The stop position in the target area is obtained according to the first object distance and the second target range.
5. method as claimed in claim 4, which is characterized in that described to be determined according to described two postures of parking to park cars
The target area park posture the step of, comprising:
Detect it is described two park cars parallel parking and park towards it is identical when, using with described two courts that park cars
It is parked to opposite posture of parking；
Detect it is described two park cars parallel parking and park towards it is opposite when, using with wherein one towards identical
Posture of parking is parked；
When detecting that described two same columns that park cars are parked, using with it is described two park cars it is arranged side by side park posture into
Row is parked.
6. a kind of automatic parking device, which is characterized in that be applied to automobile, described device includes:
Whether first detection module, two adjacent areas for detecting target area have parked vehicle；
Second detection module, between when described two adjacent areas have parked vehicle, detection two parks cars
What minimum spacing and two parked cars parks posture, wherein the posture of parking includes headstock direction；
Judgment module, for judging the target area according to the minimum spacing and described two postures of parking to park cars
If appropriate for parking；
Computing module, for when determining that the target area is suitble to park, according to it is described two park cars park posture
Determine park posture and the stop position in the target area；
Control module, for posture and the stop position planning parking route of parking according to, and according to the parking route control
In automobile parking processed to the stop position.
7. device as claimed in claim 6, which is characterized in that the automobile includes distance detection device and image collector
It sets, second detection module is specifically used for:
According to the obstacle distance information that the distance detection device acquires, obtain between the minimum between described two park cars
Away from；
According to described image acquisition device acquire image information, obtain it is described two park cars park posture, wherein institute
Stating and parking posture includes headstock direction.
8. device as claimed in claim 7, which is characterized in that the judgment module is specifically used for:
Detecting that described two park cars parallel parking and when the minimum spacing is less than the first preset threshold, described in judgement
Target area is not suitable for parking；
When detecting that described two same columns that park cars are parked and the minimum spacing is less than the second preset threshold, described in judgement
Target area is not suitable for parking, wherein second preset threshold is greater than first preset threshold.
9. device as claimed in claim 8, which is characterized in that the computing module is specifically used for:
According to it is described two park cars park posture determine the target area posture of parking；
According to it is described park Attitude Calculation in the case where this parks posture relative to described two first object distances to park cars and
Second target range；
The stop position in the target area is obtained according to the first object distance and the second target range.
10. a kind of automobile, which is characterized in that the automobile includes memory and processor, wherein the memory is for storing
Computer program, the processor is for computer program described in load and execution, so that the automobile executes such as claim 1-5
Any one of described in method.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910132443.9A CN109677398A (en) | 2019-02-22 | 2019-02-22 | Automatic parking method, apparatus and automobile |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910132443.9A CN109677398A (en) | 2019-02-22 | 2019-02-22 | Automatic parking method, apparatus and automobile |
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| Publication Number | Publication Date |
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| CN109677398A true CN109677398A (en) | 2019-04-26 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910132443.9A Pending CN109677398A (en) | 2019-02-22 | 2019-02-22 | Automatic parking method, apparatus and automobile |
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| CN110239522A (en) * | 2019-05-17 | 2019-09-17 | 浙江吉利控股集团有限公司 | A kind of automatic parking method, device and equipment |
| CN110379178A (en) * | 2019-07-25 | 2019-10-25 | 电子科技大学 | Pilotless automobile intelligent parking method based on millimetre-wave radar imaging |
| CN110871791A (en) * | 2019-12-03 | 2020-03-10 | 奇瑞汽车股份有限公司 | Parking control method and device for automobile and storage medium |
| CN110949257A (en) * | 2019-12-23 | 2020-04-03 | 深圳市豪恩汽车电子装备股份有限公司 | Auxiliary parking device and method for motor vehicle |
| CN110949256A (en) * | 2019-12-23 | 2020-04-03 | 深圳市豪恩汽车电子装备股份有限公司 | Auxiliary parking device and method for motor vehicle |
| CN110949255A (en) * | 2019-12-23 | 2020-04-03 | 深圳市豪恩汽车电子装备股份有限公司 | Auxiliary parking device and method for motor vehicle |
| WO2020229169A1 (en) * | 2019-05-16 | 2020-11-19 | Volkswagen Aktiengesellschaft | Method for parking a vehicle in a perpendicular parking space taking into account headlight positions of adjacently parked vehicles, and parking assistance system |
| CN113112864A (en) * | 2021-05-07 | 2021-07-13 | 昆山宝创新能源科技有限公司 | Parking control method, device, equipment and storage medium |
| DE102021110850A1 (en) | 2021-04-28 | 2022-11-03 | Bayerische Motoren Werke Aktiengesellschaft | Method and device for monitoring a parking process of a vehicle |
| CN117124986A (en) * | 2023-08-31 | 2023-11-28 | 杭州车凌网络科技有限公司 | Cabin-berthing integrated system of intelligent automobile |
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Effective date of registration: 20190619 Address after: 450016 Haihai East Road 1689, Zhengzhou Economic and Technological Development Zone, Henan Province Applicant after: Hippocampus Motor Co., Ltd. Applicant after: Hippocampal New Energy Automobile Co., Ltd. Address before: 450000 Haihai East Road 1689, Zhengzhou Economic and Technological Development Zone, Henan Province Applicant before: Hippocampus Motor Co., Ltd. Applicant before: Hippocampal New Energy Automobile Co., Ltd. Applicant before: Shanghai Haima Automobile Co., Ltd. |
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Application publication date: 20190426 |