CN109849901A - A kind of interactive route method and system for planning for narrow vertical parking stall - Google Patents
A kind of interactive route method and system for planning for narrow vertical parking stall Download PDFInfo
- Publication number
- CN109849901A CN109849901A CN201910036310.1A CN201910036310A CN109849901A CN 109849901 A CN109849901 A CN 109849901A CN 201910036310 A CN201910036310 A CN 201910036310A CN 109849901 A CN109849901 A CN 109849901A
- Authority
- CN
- China
- Prior art keywords
- vehicle
- parking
- parking space
- width
- driver
- 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.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 24
- 230000002452 interceptive effect Effects 0.000 title claims abstract description 20
- 230000003993 interaction Effects 0.000 claims description 16
- 230000009471 action Effects 0.000 claims description 8
- 230000008569 process Effects 0.000 abstract description 2
- PCTMTFRHKVHKIS-BMFZQQSSSA-N (1s,3r,4e,6e,8e,10e,12e,14e,16e,18s,19r,20r,21s,25r,27r,30r,31r,33s,35r,37s,38r)-3-[(2r,3s,4s,5s,6r)-4-amino-3,5-dihydroxy-6-methyloxan-2-yl]oxy-19,25,27,30,31,33,35,37-octahydroxy-18,20,21-trimethyl-23-oxo-22,39-dioxabicyclo[33.3.1]nonatriaconta-4,6,8,10 Chemical compound C1C=C2C[C@@H](OS(O)(=O)=O)CC[C@]2(C)[C@@H]2[C@@H]1[C@@H]1CC[C@H]([C@H](C)CCCC(C)C)[C@@]1(C)CC2.O[C@H]1[C@@H](N)[C@H](O)[C@@H](C)O[C@H]1O[C@H]1/C=C/C=C/C=C/C=C/C=C/C=C/C=C/[C@H](C)[C@@H](O)[C@@H](C)[C@H](C)OC(=O)C[C@H](O)C[C@H](O)CC[C@@H](O)[C@H](O)C[C@H](O)C[C@](O)(C[C@H](O)[C@H]2C(O)=O)O[C@H]2C1 PCTMTFRHKVHKIS-BMFZQQSSSA-N 0.000 description 6
- 238000010586 diagram Methods 0.000 description 5
- 230000006872 improvement Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
Landscapes
- Traffic Control Systems (AREA)
Abstract
The present invention relates to a kind of interactive route method and system for planning for narrow vertical parking stall, which comprises the width of target parking stall is obtained by image capture module and ultrasonic radar；The case where relationship between minimum range and vehicle when being got off according to left and right minimum range and vehicle left side needed for the width of target parking stall and body width, vehicle parking movement and/or right side someone carried personnel, selects park mode；Parking place is corrected according to selected park mode；Track of parking is planned according to parking place and park mode, completes to park.The push of the case where relationship between safe distance and vehicle when the present invention gets off according to the width and body width of target parking stall, two lateral extent obstacle distance of left and right vehicle wheel and vehicle left side and/or right side someone carried personnel is suitble to current park mode for driver's selection, contain various situations, to make driver have better operating experience, to demonstrate,prove the safety for process of parking.
Description
Technical Field
The invention relates to the technical field of parking, in particular to an interactive path planning method and system for a narrow vertical parking space.
Background
With the great improvement of the national living standard, the automobile keeping amount is increased year by year. In large and medium-sized cities, the increase of traffic facilities cannot meet the increase of the automobile holding capacity, so that traffic jam is caused, and the parking space allocated to each automobile is smaller and smaller. The automatic parking system can assist or even completely replace a driver to operate the vehicle to finish parking in a narrow parking space, and reduces the operation burden of the driver. However, on the one hand, some parking spaces may be defined as being not berthable because the driver/passenger cannot get off the vehicle, and on the other hand, even if the vehicle can be unloaded, it may be difficult for the driver/passenger to get off the vehicle.
In order to improve the utilization rate of narrow parking spaces and solve the problem of getting off of drivers/passengers, a remote control parking technology is applied, and in order to make parking of users more convenient, the following parking modes are designed:
(1) only remote parking is adopted: after the parking space is determined, a driver sends a parking request to the vehicle through a remote controller after getting off the vehicle, and the vehicle automatically carries out path planning and parking operation; (2) automatic parking (driver on board) is combined with remote parking: through the acquisition of information such as the number of obstacles, the parking lot is identified to be suitable for automatic parking (a driver is on the parking lot) or remote control parking, and the driver is reminded of the parking mode required to be selected at present; (3) automatic parking (driver on board) is combined with remote parking: because the recognition of the current low-cost sensor to the environment is not necessarily capable of ensuring the safety, and the possibility that the driver keeps in the vehicle and takes over the vehicle under the dangerous condition under most conditions is important to the safety of automatic parking, remote control parking is adopted only in a section of distance of the last garage entry, automatic parking (the driver is on the vehicle) is still adopted before, parking is carried out when the remote control parking and the automatic parking are switched, and the driver gets off the vehicle, because the last distance of several meters is not driven by a steering wheel, and the driver can observe in a short distance, the safety is ensured; (4) auto park (driver on board): the final parking position of the optimized vehicle provides better experience for the driver to get on or off the vehicle, namely, after a narrow parking space is identified, the vehicle is parked by the right, and a larger space for getting on or off the vehicle is left for the driver as much as possible.
In the schemes (1) and (2), remote control parking is adopted, and in the automatic parking solution of the existing low-cost sensors (usually an ultrasonic sensor and a camera), complete identification of the environment and the obstacles cannot be ensured, and the safety is not good enough; the scheme (3) integrates automatic parking (a driver is on the vehicle) and remote control parking, so that the driver can stay on the vehicle as much as possible to ensure the parking safety, but the situation of passengers on the vehicle is not considered, and how to optimize the parking track if the driver chooses not to leave the vehicle in the whole course is not explained; solution (4) optimizes the final parking position of the vehicle, but only takes into account that the driver does not take into account the passengers.
Therefore, the above solutions do not provide a solution that simultaneously meets the requirements that the driver is on the vehicle as much as possible, the driver is selected whether to get off the vehicle in advance before parking through interactive operation, and the final parking position is optimized according to whether the driver/passenger is still on the vehicle.
Disclosure of Invention
The invention provides an interactive path planning method and system for narrow and small vertical parking spaces, aiming at overcoming the defects in the prior art.
In order to solve the technical problems, the technical scheme of the invention is as follows:
an interactive path planning method for a narrow vertical parking space comprises the following steps:
s10, acquiring the width of the target parking space through the image acquisition module and the ultrasonic radar;
s20, selecting a parking mode according to the relation between the width of the target parking space and the width of the vehicle body, the left and right minimum distances required by the parking action of the vehicle and the minimum distances when people leave the vehicle on the left side and/or the right side of the vehicle and the conditions of people carried by the vehicle;
s30, correcting the parking position according to the selected parking mode;
and S40, planning a parking track according to the parking position and the parking mode, and finishing parking.
Further, as a preferred technical solution, step S10 specifically includes:
s101, acquiring image information of a target parking space through an image acquisition module, and acquiring data information of the target parking space through an ultrasonic radar;
s102, fusing the image information and the data information to obtain the vertex information of the target parking space;
and S103, calculating the average width of the target parking space according to the vertex information of the target parking space, namely the width of the target parking space.
Further, as a preferable technical solution, the situation of the person carried by the vehicle in the step S20 includes only the driver and both the driver and the passenger.
Further, as a preferable aspect, the relation between the width of the target space and the vehicle width, the left and right minimum distances required for the parking operation of the vehicle, and the minimum distance when a person gets off the vehicle on the left side of the vehicle in step S20 and the parking mode include:
when in useWhen the driver gets off the vehicle in advance, the parking mode comprises that the driver gets off the vehicle in advance and does not get off the vehicle in advance;
when in useWhen the parking mode is used, the driver gets off the vehicle in advance and gives up the parking space;
when in useThe parking mode includes relinquishing the parking space;
wherein,the width of the target parking space is shown,which indicates the width of the vehicle body,indicating the minimum distance when a person is off the vehicle to the left and/or right of the vehicle,indicating the minimum left and right distance required for the vehicle parking maneuver.
Further, as a preferred embodiment, when the situation of the person is the driver and the passenger, the relationship between the width and the vehicle body width of the target parking space, the left and right minimum distances required for the parking operation of the vehicle, and the minimum distance when the person gets off the vehicle on the left and/or right side of the vehicle in step S20, and the parking mode include:
when in useMeanwhile, the parking mode comprises that a driver and passengers get off the vehicle in advance and only the passengers get off the vehicle in advance;
when in useMeanwhile, the parking mode comprises that the driver and the passenger get off the vehicle in advance and give up the parking space;
when in useThe parking mode includes relinquishing the parking space;
wherein,the width of the target parking space is shown,which indicates the width of the vehicle body,indicating the minimum distance when a person is off the vehicle to the left and/or right of the vehicle,indicating the minimum left and right distance required for the vehicle parking maneuver.
Further, as a preferred technical scheme, when the selected parking mode is that the driver gets off the vehicle in advance or the driver and the passengers get off the vehicle in advance, the vehicle needs to be straightened to be parallel to the sideline of the target parking space.
Further, as a preferred technical scheme, the width of the target parking space is calculated by the following formula:
；
wherein, ， ，the width of the front end of the target parking space is shown,the width of the rear end of the target parking space is shown,indicating the width of the vehicle body.
Further, as a preferable embodiment, the relationship between the width and the vehicle body width of the target space, the left and right minimum distances required for the parking operation of the vehicle, and the minimum distance when a person gets off the vehicle on the left side and/or the right side of the vehicle, and the parking mode in step S20 further include:
when in useWhen the vehicle is parked, the parking mode comprises that a driver and passengers get off the vehicle in advance, only the passengers get off the vehicle in advance and not get off the vehicle in advance;
wherein,the width of the target parking space is shown,which indicates the width of the vehicle body,indicating the minimum distance that a person on the left and/or right side of the vehicle will get off the vehicle.
An interactive path planning system for narrow and small vertical parking spaces comprises an image acquisition module, an ultrasonic radar, a personnel information acquisition module, a processing unit, a man-machine interaction unit, a path planning module and a parking execution unit;
the image acquisition module, the ultrasonic radar, the personnel information acquisition module, the man-machine interaction unit, the path planning module and the parking execution unit are all connected with the processing unit;
the image acquisition module is used for acquiring image information of a target parking space and obstacles on the left side and the right side of the target parking space and sending the image information to the processing unit;
the ultrasonic radar is used for acquiring data information of a target parking space and obstacles on the left side and the right side of the target parking space and sending the data information to the processing unit;
the personnel information acquisition module is used for acquiring the condition of personnel carried by the vehicle and sending the condition to the processing unit;
the human-computer interaction unit is used for displaying a parking mode so as to enable a driver to select the parking mode, and sending a selection result of the driver to the processing unit;
the path planning module is used for correcting the parking path according to the parking mode selected by the driver and sending the corrected parking path to the processing unit;
and the parking execution unit is used for carrying out parking operation according to the corrected parking path.
The processing unit is used for processing the received image information and the received data information to obtain the vertex information of the target parking space, so that the width of the target parking space is calculated, the width of the target parking space is compared with the preset width of a vehicle body, the distance between the left side and the right side of the vehicle and the safety distance when a person gets off the vehicle, and a corresponding parking mode is output to the man-machine interaction unit to be displayed in combination with the condition of the person carried by the.
Further, as a preferred technical scheme, the personnel information acquisition module comprises a pressure sensor arranged below a seat, a safety belt or a rotary button of a driver; the human-computer interaction unit comprises an interaction interface; the parking execution unit comprises an actuator used for executing steering and driving control operation.
Compared with the prior art, the technical scheme of the invention has the beneficial effects that:
according to the invention, the appropriate current parking mode is pushed according to the relationship between the width of the target parking space and the width of the vehicle body, the distance between the left side and the right side of the vehicle and the obstacle, the safe distance when a person leaves the vehicle on the left side and/or the right side of the vehicle and the conditions of the persons carried by the vehicle for the driver to select, and various conditions are included, so that the driver has better operation experience, and the safety of the parking process is ensured. Meanwhile, the invention considers the passengers of the right seat when pushing the parking mode options to the driver and selecting the final target parking space, thereby avoiding the situation that the driver can get off the vehicle and the passengers of the right seat can not open the vehicle door.
Drawings
FIG. 1 is a flow chart of the method steps of the present invention.
Fig. 2 is a schematic view of the target parking space of the present invention.
FIG. 3 is a schematic diagram of a parking mode of the method of the present invention.
FIG. 4 is a schematic diagram of a parking mode of the method of the present invention.
FIG. 5 is a schematic diagram of a parking mode of the method of the present invention.
FIG. 6 is a schematic diagram of a parking mode of the method of the present invention.
FIG. 7 is a block diagram of the system of the present invention.
The drawings are for illustrative purposes only and are not to be construed as limiting the patent; for the purpose of better illustrating the embodiments, certain features of the drawings may be omitted, enlarged or reduced, and do not represent the size of an actual product; it will be understood by those skilled in the art that certain well-known structures in the drawings and descriptions thereof may be omitted; the same or similar reference numerals correspond to the same or similar parts; the terms describing positional relationships in the drawings are for illustrative purposes only and are not to be construed as limiting the patent.
Detailed Description
The following detailed description of the preferred embodiments of the present invention, taken in conjunction with the accompanying drawings, will make the advantages and features of the invention easier to understand for those skilled in the art and will therefore make the scope of the invention more clearly defined.
Example 1
An interactive path planning method for a narrow vertical parking space is disclosed, as shown in fig. 1: the method comprises the following steps:
and S10, acquiring the width of the target parking space through the image acquisition module and the ultrasonic radar.
The method specifically comprises the following steps:
and S101, acquiring image information of the target parking space through an image acquisition module, and acquiring data information of the target parking space through an ultrasonic radar.
And S102, fusing the image information and the data information to obtain the vertex information of the target parking space.
And S103, calculating the average width of the target parking space according to the vertex information of the target parking space, namely the width of the target parking space.
In this step, the identified target parking space is as shown in fig. 2, the obtained vertex information of the target parking space includes four vertices A, B, C and D, and the width between a and B isAnd the width between C and D isTherefore, the width of the target slot is calculated by the following formula:
；
wherein, ， ，the width of the front end of the target parking space is shown,the width of the rear end of the target parking space is shown,indicating the width of the vehicle body. In the present embodiment, by default ， 。
And S20, selecting a parking mode according to the relation between the width of the target parking space and the width of the vehicle body, the left and right minimum distances required by the parking action of the vehicle and the minimum distances for the left and/or right sides of the vehicle to get off the vehicle and the conditions of the persons carried by the vehicle.
The situation of the person carried by the vehicle in this step includes only the driver and the drivingTwo situations, personnel and passengers. Since in the present invention, the definitionFor small vertical spaces, therefore, only discussion is given ofThe case (1). Wherein,which indicates the width of the vehicle body,indicating the minimum distance that a person on the left and/or right side of the vehicle will get off the vehicle.
When the situation of the carried person is only the driver, the relation between the width of the target parking space and the width of the vehicle body, the left and right minimum distances required by the parking action of the vehicle and the minimum distance for the left side of the vehicle to get off the vehicle and the parking mode in the step comprise:
when in useIn this case, since the space on the left side of the vehicle is sufficient to open the door on the driver's side after parking, the parking mode includes the driver getting off in advance and the driver not getting off in advance.
When in useIn this case, the parking mode includes the driver getting off the vehicle in advance and giving up the parking space, because the space on the left side of the vehicle is not enough to open the door on the driver's side after parking.
When in useThen it is not a valid parking space, and thus the parking mode includes giving up the parking space.
Wherein，The width of the target parking space is shown,which indicates the width of the vehicle body,indicating the minimum distance when a person is off the vehicle to the left and/or right of the vehicle,indicating the minimum left and right distance required for the vehicle parking maneuver.
In this step, when the driver selects to get off the vehicle in advance, the vehicle needs to be straightened to be parallel to the sideline of the target parking space, that is, as shown in fig. 3, the vehicle is started to a point S and then is stopped, so that the driver continues to drive backwards to a preset parking position of the target parking space after closing the door, and finishes the parking operation, wherein the preset parking position is located in the middle of the ABCD area of the target parking space; when the driver selects not to get off the vehicle in advance, as shown in fig. 4, the vehicle directly travels along the arc to the preset parking position of the target parking space, and the parking operation is finished, wherein the preset parking position is located at the position to the right of the ABCD area of the target parking space.
When the situation of the carried person is a driver and a passenger, the relationship between the width and the body width of the target parking space, the left and right minimum distances required by the parking action of the vehicle and the minimum distances when a person gets off the vehicle on the left side and/or the right side of the vehicle and the parking mode in the step comprise:
when in useMeanwhile, since the space on the left side of the vehicle is sufficient to open the door on the driver's side after parking, the parking mode includes early getting off of the vehicle by the driver and the passenger and early getting off of the vehicle by only the passenger.
When in useIn the parking mode, since the space on the left side of the vehicle is not enough to open the doors on either side after parking, the driver and passengers get off the vehicle in advance and give up the parking space.
When in useThen it is not a valid parking space, and thus the parking mode includes giving up the parking space.
Wherein,the width of the target parking space is shown,which indicates the width of the vehicle body,indicating the minimum distance when a person is off the vehicle to the left and/or right of the vehicle,indicating the minimum left and right distance required for the vehicle parking maneuver.
In this step, when the driver and the passenger are selected to get off in advance, the vehicle needs to be straightened to be parallel to the sideline of the target parking space, that is, as shown in fig. 3, the vehicle is firstly driven to a point S and then parked, so that the driver and the passenger continue to drive backwards to the preset parking position of the target parking space after getting off and closing the vehicle door, and the parking operation is finished, wherein the preset parking position is located in the middle of the target parking space ABCD area; when only the passenger gets off the vehicle in advance, as shown in fig. 5, the vehicle is firstly driven to a point S and then parked, so that the passenger continues to drive backwards to a preset parking position of the target parking space after getting off and closing the vehicle door, and the parking operation is finished, wherein the preset parking position is located at a position to the right of the ABCD area of the target parking space.
In the present invention, when the target parking space is not a small vertical parking space, the relationship between the width of the target parking space and the width of the vehicle body, the distance between the left and right sides of the vehicle and the obstacle, and the safe distance when someone gets off the vehicle on the left and/or right side of the vehicle, and the parking mode include:
that is, whenWhen the vehicle is parked, the parking mode comprises that a driver and passengers get off the vehicle in advance, only the passengers get off the vehicle in advance and not get off the vehicle in advance;
wherein,the width of the target parking space is shown,which indicates the width of the vehicle body,indicating the minimum distance that a person on the left and/or right side of the vehicle will get off the vehicle.
When the driver and the passenger are selected to get off the vehicle in advance, the vehicle needs to be straightened firstly to be parallel to the sideline of the target parking space, namely, as shown in fig. 3, the vehicle is started to a point S and then is parked, the driver and the passenger continue to drive backwards to the preset parking position of the target parking space after closing the vehicle doors, and the parking operation is finished, wherein the preset parking position is positioned in the middle of the ABCD area of the target parking space; when the passenger gets off the vehicle in advance or does not get off the vehicle in advance, as shown in fig. 6, the vehicle directly travels along the arc to the preset parking position of the target parking space, and the parking operation is finished, wherein the preset parking position is located in the middle of the ABCD area of the target parking space.
And S30, correcting the parking position according to the selected parking mode.
In this step, whether the preset parking position is located in the middle or on the right side of the target parking space is corrected according to the selected parking mode.
And S40, planning a parking track according to the parking position and the parking mode, and finishing parking.
In the step, a parking track is planned according to the corrected parking position and the parking mode (whether the vehicle needs to be aligned at the point S in advance), and an actuator is controlled to operate steering, driving and braking, so that the parking operation is completed.
In the parking technology, the parking space is a narrow vertical parking space, so that the number of parking steps is possibly more than one, but the first steps ensure the parking safety, a driver sits on the vehicle, and only the last step needs to select a mode of getting off the vehicle in advance. Therefore, in the present invention, only the problems of the mode selection of the final warehousing step, the path planning, the selection of the final parking position, and the like will be discussed.
Example 2
An interactive path planning system for narrow vertical parking slots, as shown in fig. 7: the system comprises an image acquisition module, an ultrasonic radar, a personnel information acquisition module, a processing unit, a man-machine interaction unit, a path planning module and a parking execution unit.
The image acquisition module, the ultrasonic radar, the personnel information acquisition module, the man-machine interaction unit, the path planning module and the parking execution unit are all connected with the processing unit.
The image acquisition module is used for acquiring image information of the target parking space and obstacles on the left side and the right side of the target parking space and sending the image information to the processing unit.
The ultrasonic radar is used for acquiring data information of the target parking space and obstacles on the left side and the right side of the target parking space and sending the data information to the processing unit.
The personnel information acquisition module comprises a pressure sensor arranged below the seat, a safety belt or a rotary button of a driver and is used for acquiring the condition of personnel carried by the vehicle and sending the condition to the processing unit.
The man-machine interaction unit comprises an interaction interface used for displaying a parking mode so as to enable a driver to select the parking mode, and sending a selection result of the driver to the processing unit.
The path planning module is used for correcting the parking path according to the parking mode selected by the driver and sending the corrected parking path to the processing unit.
The parking execution unit comprises an actuator for carrying out parking operation according to the corrected parking path, namely, for executing steering and driving control operation.
The processing unit is used for processing the received image information and the received data information to obtain the vertex information of the target parking space, so that the width of the target parking space is calculated, the width of the target parking space is compared with the preset width of a vehicle body, the distance between the left side and the right side of the vehicle and the distance between the left side and the right side.
It should be understood that the above-described embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.
Claims (10)
1. An interactive path planning method for a narrow vertical parking space is characterized by comprising the following steps:
s10, acquiring the width of the target parking space through the image acquisition module and the ultrasonic radar;
s20, selecting a parking mode according to the relation between the width of the target parking space and the width of the vehicle body, the left and right minimum distances required by the parking action of the vehicle and the minimum distances when people leave the vehicle on the left side and/or the right side of the vehicle and the conditions of people carried by the vehicle;
s30, correcting the parking position according to the selected parking mode;
and S40, planning a parking track according to the parking position and the parking mode, and finishing parking.
2. The interactive path planning method for the narrow vertical parking space according to claim 1, wherein step S10 specifically includes:
s101, acquiring image information of a target parking space through an image acquisition module, and acquiring data information of the target parking space through an ultrasonic radar;
s102, fusing the image information and the data information to obtain the vertex information of the target parking space;
and S103, calculating the average width of the target parking space according to the vertex information of the target parking space, namely the width of the target parking space.
3. The interactive path planning method for a narrow vertical parking space according to claim 1, wherein the situation of the person carried by the vehicle in step S20 includes only the driver and both the driver and the passenger.
4. The interactive path planning method for the narrow vertical parking space according to claim 3, wherein when the situation of the carrying person is only the driver, the relationship between the width of the target parking space and the width of the vehicle body, the left and right minimum distances required for the parking action of the vehicle and the minimum distance when someone gets off the left side of the vehicle and the parking mode in step S20 includes:
when in useWhen the driver gets off the vehicle in advance, the parking mode comprises that the driver gets off the vehicle in advance and does not get off the vehicle in advance;
when in useWhen the parking mode is used, the driver gets off the vehicle in advance and gives up the parking space;
when in useThe parking mode includes relinquishing the parking space;
wherein,the width of the target parking space is shown,which indicates the width of the vehicle body,indicating the minimum distance when a person is off the vehicle to the left and/or right of the vehicle,indicating the minimum left and right distance required for the vehicle parking maneuver.
5. The interactive path planning method for the narrow vertical parking space according to claim 3, wherein when the situation of the carried persons is the driver and the passenger, the relationship between the width and the width of the vehicle body of the target parking space, the left and right minimum distances required for the parking action of the vehicle and the minimum distance when a person gets off the vehicle on the left and/or right side of the vehicle and the parking mode in step S20 comprises:
when in useMeanwhile, the parking mode comprises that a driver and passengers get off the vehicle in advance and only the passengers get off the vehicle in advance;
when in useMeanwhile, the parking mode comprises that the driver and the passenger get off the vehicle in advance and give up the parking space;
when in useThe parking mode includes relinquishing the parking space;
wherein,the width of the target parking space is shown,which indicates the width of the vehicle body,indicating the minimum distance when a person is off the vehicle to the left and/or right of the vehicle,indicating the minimum left and right distance required for the vehicle parking maneuver.
6. The interactive path planning method for the narrow vertical parking space according to claim 4 or 5, wherein when the selected parking mode is that the driver gets off the vehicle in advance or the driver and the passengers get off the vehicle in advance, the vehicle needs to be aligned to be parallel to the sideline of the target parking space.
7. The interactive path planning method for a narrow vertical parking space according to claim 3, wherein the width of the target parking space is calculated by the following formula:
；
wherein, ， ，the width of the front end of the target parking space is shown,the width of the rear end of the target parking space is shown,indicating the width of the vehicle body.
8. The interactive path planning method for a narrow vertical parking space as claimed in claim 5, wherein the relationship between the width of the target parking space and the width of the vehicle body, the left and right minimum distances required for the parking action of the vehicle and the minimum distances for a person to get off the vehicle to the left and/or right of the vehicle and the parking mode in step S20 further comprises:
when in useWhen the vehicle is parked, the parking mode comprises that a driver and passengers get off the vehicle in advance, only the passengers get off the vehicle in advance and not get off the vehicle in advance;
wherein,the width of the target parking space is shown,which indicates the width of the vehicle body,indicating the minimum distance that a person on the left and/or right side of the vehicle will get off the vehicle.
9. An interactive path planning system for narrow and small vertical parking spaces is characterized by comprising an image acquisition module, an ultrasonic radar, a personnel information acquisition module, a processing unit, a man-machine interaction unit, a path planning module and a parking execution unit;
the image acquisition module, the ultrasonic radar, the personnel information acquisition module, the man-machine interaction unit, the path planning module and the parking execution unit are all connected with the processing unit;
the image acquisition module is used for acquiring image information of a target parking space and obstacles on the left side and the right side of the target parking space and sending the image information to the processing unit;
the ultrasonic radar is used for acquiring data information of a target parking space and obstacles on the left side and the right side of the target parking space and sending the data information to the processing unit;
the personnel information acquisition module is used for acquiring the condition of personnel carried by the vehicle and sending the condition to the processing unit;
the human-computer interaction unit is used for displaying a parking mode so as to enable a driver to select the parking mode, and sending a selection result of the driver to the processing unit;
the path planning module is used for correcting the parking path according to the parking mode selected by the driver and sending the corrected parking path to the processing unit;
the parking execution unit is used for carrying out parking operation according to the corrected parking path;
the processing unit is used for processing the received image information and the received data information to obtain the vertex information of the target parking space, so that the width of the target parking space is calculated, the width of the target parking space is compared with the preset width of a vehicle body, the distance between the left side and the right side of the vehicle and the safety distance when a person gets off the vehicle, and a corresponding parking mode is output to the man-machine interaction unit to be displayed in combination with the condition of the person carried by the.
10. The interactive path planning system for a narrow vertical parking space of claim 9 wherein the personnel information collection module comprises a pressure sensor disposed under a seat, a safety belt, or a driver's turn button; the human-computer interaction unit comprises an interaction interface; the parking execution unit comprises an actuator used for executing steering and driving control operation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910036310.1A CN109849901A (en) | 2019-01-15 | 2019-01-15 | A kind of interactive route method and system for planning for narrow vertical parking stall |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910036310.1A CN109849901A (en) | 2019-01-15 | 2019-01-15 | A kind of interactive route method and system for planning for narrow vertical parking stall |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109849901A true CN109849901A (en) | 2019-06-07 |
Family
ID=66894793
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910036310.1A Pending CN109849901A (en) | 2019-01-15 | 2019-01-15 | A kind of interactive route method and system for planning for narrow vertical parking stall |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109849901A (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110293963A (en) * | 2019-06-14 | 2019-10-01 | 重庆长安汽车股份有限公司 | Narrow vertical parking stall is remotely controlled park method and computer readable storage medium |
| CN110371108A (en) * | 2019-06-14 | 2019-10-25 | 浙江零跑科技有限公司 | Cartborne ultrasound wave radar and vehicle-mounted viewing system fusion method |
| CN110466509A (en) * | 2019-08-23 | 2019-11-19 | 威马智慧出行科技（上海）有限公司 | Automatic parking mode selecting method, electronic equipment and automobile |
| CN112172794A (en) * | 2020-09-15 | 2021-01-05 | 华人运通(上海)自动驾驶科技有限公司 | Parking control method and device, vehicle and storage medium |
| WO2021072919A1 (en) * | 2019-10-17 | 2021-04-22 | 惠州市德赛西威智能交通技术研究院有限公司 | Parking space-based heading adjustment method suitable for ultrasonic perpendicular parking spaces |
| CN112799391A (en) * | 2020-09-15 | 2021-05-14 | 华人运通(上海)自动驾驶科技有限公司 | Parking method and device for narrow parking space, vehicle and storage medium |
| CN113978453A (en) * | 2021-11-11 | 2022-01-28 | 上海洛轲智能科技有限公司 | Automatic parking method and system |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102010006979A1 (en) * | 2010-02-05 | 2011-08-11 | GM Global Technology Operations LLC, ( n. d. Ges. d. Staates Delaware ), Mich. | Method for supporting parking of car, involves detecting width of parking space, detecting actual position of car relative to confinement of parking space and guiding car to target position |
| CN104057950A (en) * | 2014-05-21 | 2014-09-24 | 重庆长安汽车股份有限公司 | Full-automatic parking system |
| CN106043282A (en) * | 2016-07-26 | 2016-10-26 | 浙江吉利控股集团有限公司 | Full-automatic parking system for vehicle and control method thereof |
| CN109017763A (en) * | 2017-06-12 | 2018-12-18 | 通用汽车环球科技运作有限责任公司 | autonomous vehicle parking method and system |
-
2019
- 2019-01-15 CN CN201910036310.1A patent/CN109849901A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102010006979A1 (en) * | 2010-02-05 | 2011-08-11 | GM Global Technology Operations LLC, ( n. d. Ges. d. Staates Delaware ), Mich. | Method for supporting parking of car, involves detecting width of parking space, detecting actual position of car relative to confinement of parking space and guiding car to target position |
| CN104057950A (en) * | 2014-05-21 | 2014-09-24 | 重庆长安汽车股份有限公司 | Full-automatic parking system |
| CN106043282A (en) * | 2016-07-26 | 2016-10-26 | 浙江吉利控股集团有限公司 | Full-automatic parking system for vehicle and control method thereof |
| CN109017763A (en) * | 2017-06-12 | 2018-12-18 | 通用汽车环球科技运作有限责任公司 | autonomous vehicle parking method and system |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110293963A (en) * | 2019-06-14 | 2019-10-01 | 重庆长安汽车股份有限公司 | Narrow vertical parking stall is remotely controlled park method and computer readable storage medium |
| CN110371108A (en) * | 2019-06-14 | 2019-10-25 | 浙江零跑科技有限公司 | Cartborne ultrasound wave radar and vehicle-mounted viewing system fusion method |
| CN110371108B (en) * | 2019-06-14 | 2020-12-15 | 浙江零跑科技有限公司 | Fusion method of vehicle-mounted ultrasonic radar and vehicle-mounted looking-around system |
| CN110466509A (en) * | 2019-08-23 | 2019-11-19 | 威马智慧出行科技（上海）有限公司 | Automatic parking mode selecting method, electronic equipment and automobile |
| WO2021072919A1 (en) * | 2019-10-17 | 2021-04-22 | 惠州市德赛西威智能交通技术研究院有限公司 | Parking space-based heading adjustment method suitable for ultrasonic perpendicular parking spaces |
| CN112172794A (en) * | 2020-09-15 | 2021-01-05 | 华人运通(上海)自动驾驶科技有限公司 | Parking control method and device, vehicle and storage medium |
| CN112799391A (en) * | 2020-09-15 | 2021-05-14 | 华人运通(上海)自动驾驶科技有限公司 | Parking method and device for narrow parking space, vehicle and storage medium |
| CN113978453A (en) * | 2021-11-11 | 2022-01-28 | 上海洛轲智能科技有限公司 | Automatic parking method and system |
| CN113978453B (en) * | 2021-11-11 | 2023-09-08 | 上海洛轲智能科技有限公司 | Automatic parking method and system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109849901A (en) | A kind of interactive route method and system for planning for narrow vertical parking stall | |
| WO2021104477A1 (en) | Automatic parking method, device, and system | |
| CN104520170B (en) | The method implementing vehicle parking process by driver assistance system | |
| JP6022447B2 (en) | Car driver support method, driver support device, and car when parking in a parking space | |
| CN105398431B (en) | Automatic parking and reminder system and method of use thereof | |
| US20210354686A1 (en) | Full-automatic parking method and system | |
| CN109131317A (en) | Automatic vertical parking system and method based on multisection type planning and machine learning | |
| US11846938B2 (en) | Remote-controlled parking assistance system with autonomous decision about the presence of a parking or parking-space-exiting situation and corresponding parking method | |
| CN110536820B (en) | Method for operating a motor vehicle and motor vehicle | |
| US11305756B2 (en) | Parking control method and parking control apparatus | |
| US11046307B2 (en) | Parking control method and parking control device | |
| CN108556841A (en) | A kind of system and its working method that electric vehicle is automatically parked | |
| CN111183067B (en) | Parking control method and parking control device | |
| CN108961809A (en) | Method, electronic-parking auxiliary system and the motor vehicles of the docking process of auxiliary maneuvering vehicle | |
| US20200070848A1 (en) | Method and System for Initiating Autonomous Drive of a Vehicle | |
| JP2022503485A (en) | Methods and devices to assist the driver's attention and / or driving posture during the autonomous driving process of the vehicle. | |
| US20210284131A1 (en) | Method for operating a transportation vehicle and a control unit for carrying out the method | |
| CN110466509A (en) | Automatic parking mode selecting method, electronic equipment and automobile | |
| CN111016884A (en) | Intelligent point-to-point parking method and system | |
| US11458939B2 (en) | Trailer | |
| CN102085864B (en) | Method and system for controlling vehicle to stop | |
| CN112356826A (en) | Parking assisting method and storage medium | |
| CN109649379B (en) | Automatic parking control method and device | |
| WO2017135191A1 (en) | Parking assistance method | |
| CN208344210U (en) | A kind of system that electric car is automatically parked |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20190607 |
|
| RJ01 | Rejection of invention patent application after publication |