CN109849913B - System and method for assisting parking of vehicle on curb - Google Patents
System and method for assisting parking of vehicle on curb Download PDFInfo
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- CN109849913B CN109849913B CN201711230562.5A CN201711230562A CN109849913B CN 109849913 B CN109849913 B CN 109849913B CN 201711230562 A CN201711230562 A CN 201711230562A CN 109849913 B CN109849913 B CN 109849913B
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Abstract
The present invention provides a system and method for assisting in parking a vehicle on a curb. The system comprises: a detection unit for detecting whether a curb exists in a surrounding environment of a vehicle; a selection unit for selecting a target wheel on a wheel inner side closer to a curb than a wheel outer side when driving toward the curb, based on the detected curb; an acquisition unit for acquiring, in real time, a minimum distance and a relative angle between a wheel inner side of a target wheel and a curb; a judging unit for judging whether the minimum distance is smaller than a first threshold value and whether the relative angle is smaller than a second threshold value; and an execution unit for executing an action of preventing the target wheel from being damaged by the curb in response to a determination that the minimum distance is smaller than the first threshold and the relative angle is smaller than the second threshold.
Description
Technical Field
The present invention relates to a system and method for assisting parking of a vehicle, and more particularly, to a system and method for assisting parking of a vehicle on a curb.
Background
In situations where the driver wants to park the vehicle on the curb, the driver in fact faces several challenges. Fig. 1 shows an example of parking a vehicle on a curb. As shown in fig. 1, the vehicle 1 turns to the right and travels forward so that the right front portion of the vehicle is located above the curb 2, and thereafter, under the manipulation of the driver, the vehicle 1 turns to the left and continues traveling forward in anticipation of the vehicle being parked on the curb 2 in parallel with the curb 2, and when the vehicle 1 oversteers to the left or turns to the left too early, the vehicle 1 may fall from the curb 2, resulting in the vehicle 1 failing to be parked on the curb 2. Fig. 2 shows another example of parking a vehicle on a curb. The example shown in fig. 2 is similar to the example shown in fig. 1, except that fig. 2 shows that when the vehicle 1 is steered left understeer or steered left too late, the wheel inner sides of the left front wheel 11 and the left rear wheel 12 of the vehicle 1 may scrape the curb 2, resulting in the wheel inner sides of both the left front wheel 11 and the left rear wheel 12 being damaged by the curb 2.
Accordingly, a method and system for assisting the parking of a vehicle on a curb capable of preventing the inside of a wheel from being damaged by the curb is desired.
Disclosure of Invention
It is an object of the present invention to provide a method and system for parking an auxiliary vehicle on a curb capable of preventing the inside of a wheel from being damaged by the curb.
According to an aspect of the present invention, there is provided a system for assisting parking of a vehicle on a curb, the system comprising:
a detection unit for detecting whether a curb exists in a surrounding environment of a vehicle;
a selection unit for selecting a target wheel on a wheel inner side closer to a curb than a wheel outer side when driving toward the curb, based on the detected curb;
an acquisition unit for acquiring, in real time, a minimum distance and a relative angle between a wheel inner side of a target wheel and a curb;
a determination unit configured to determine whether the minimum distance is smaller than a first threshold value and determine whether the relative angle is smaller than a second threshold value; and
and an execution unit for executing an action of preventing the target wheel from being damaged by the curb in response to a determination that the minimum distance is smaller than a first threshold and the relative angle is smaller than a second threshold.
According to an embodiment of the present invention, the execution unit includes a steering drive device configured to drive the vehicle to steer toward a direction that moves the target wheel away from the curb in response to a determination that the minimum distance is less than a first threshold and the relative angle is less than a second threshold.
According to an embodiment of the present invention, the execution unit includes a reverse drive device configured to drive the vehicle to travel backward in response to a determination that the minimum distance is smaller than a first threshold value and the relative angle is smaller than a second threshold value.
According to an embodiment of the present invention, the system further includes a determination unit configured to determine a target wheel closest to the curb among target wheels closer to the curb than the wheel inner side when traveling toward the curb, the acquisition unit being configured to acquire, in real time, a minimum distance and a relative angle between the wheel inner side of the target wheel closest to the curb and the curb.
According to an embodiment of the invention, the acquisition unit comprises detection means.
According to an embodiment of the invention, the system further comprises a warning unit configured for warning the driver in response to a determination that the minimum distance is smaller than a first threshold and the relative angle is smaller than a second threshold.
According to an embodiment of the invention, the alarm unit comprises a visual alarm device and/or an acoustic alarm device and/or a tactile alarm device.
According to an embodiment of the present invention, the system further comprises an activation unit configured to activate the steering driving device to automatically steer the vehicle toward a direction to steer the target wheel away from the curb in response to a determination that the minimum distance is less than the first threshold and the relative angle is less than the second threshold.
According to another aspect of the present invention, there is provided a method for assisting parking of a vehicle on a curb, the method comprising the steps of:
detecting whether a curb exists in the surrounding environment of the vehicle;
selecting a target wheel on the inner side of the wheel closer to the curb than the outer side of the wheel when driving toward the curb, based on the detected curb;
acquiring the minimum distance and the relative angle between the inner side of the wheel of the target wheel and the curb in real time;
judging whether the minimum distance is smaller than a first threshold value or not, and judging whether the relative angle is smaller than a second threshold value or not; and
in response to a determination that the minimum distance is less than the first threshold and the relative angle is less than the second threshold, performing an action to prevent the wheel inner side of the target wheel from being damaged by the curb.
According to the embodiment of the invention, in response to a determination that the minimum distance is smaller than the first threshold value and the relative angle is smaller than the second threshold value, the vehicle is driven to steer toward a direction in which the target wheel is away from the curb.
According to the embodiment of the invention, the vehicle is driven to travel backward in response to the determination that the minimum distance is smaller than the first threshold value and the relative angle is smaller than the second threshold value.
According to an embodiment of the present invention, the method further includes the step of determining a target wheel closest to the curb among target wheels whose wheel inner sides are closer to the curb than wheel outer sides when driving toward the curb, and acquiring the minimum distance and the relative angle between the wheel inner side of the target wheel closest to the curb and the curb in real time.
According to the embodiment of the present invention, the minimum distance between the wheel inner side of the target wheel and the curb is acquired in real time by the detection device.
According to an embodiment of the invention, the method further comprises the step of alerting the driver in response to a determination that the minimum distance is less than a first threshold and the relative angle is less than a second threshold.
According to an embodiment of the invention, the alarm comprises a visual alarm and/or an acoustic alarm and/or a tactile alarm.
According to the embodiment of the invention, in response to a determination that the minimum distance is smaller than the first threshold value and the relative angle is smaller than the second threshold value, the vehicle is automatically driven to steer toward a direction in which the target wheel is away from the curb.
The method and system for assisting the parking of the vehicle on the curb according to the present invention can prevent the inner side of the wheel from being damaged by the curb, thereby ensuring a long life span of the wheel and safe driving of the vehicle.
Drawings
Fig. 1 shows an example of parking a vehicle on a curb.
Fig. 2 shows another example of parking a vehicle on a curb.
Fig. 3 shows a schematic view of a system for assisting parking of a vehicle on a curb according to an embodiment of the invention.
Fig. 4 shows a flowchart of a method for assisting parking of a vehicle on a curb according to an embodiment of the invention.
Detailed Description
Embodiments of a method and system for assisting parking of a vehicle on a curb in accordance with the present invention will be described with reference to the accompanying drawings. The following detailed description and drawings are illustrative of the principles of the invention, which is not to be limited to the preferred embodiments described, but is to be defined by the scope of the appended claims.
A system for assisting parking of a vehicle on a curb according to an embodiment of the present invention may be mounted on or applied to the vehicle to assist the vehicle when the vehicle needs to be parked on the curb.
Fig. 3 shows a schematic view of a system for assisting parking of a vehicle on a curb according to an embodiment of the invention. The system for assisting parking of a vehicle on a curb according to the present invention will be described below with reference to fig. 3.
As shown in fig. 3, the system 300 for assisting the parking of the vehicle on the curb according to the present invention includes a detecting unit 310, a selecting unit 320, an acquiring unit 330, a judging unit 340, and an executing unit 350.
Hereinafter, the above-described units will be described in detail.
The detection unit 310 is used to detect whether there is a curb in the surroundings of the vehicle. According to an embodiment of the present invention, the detection unit 310 may include a sensor and a signal processing module that communicate with each other. The sensor may include an ultrasonic sensor, a laser sensor, a radar sensor, a camera, etc.; the signal processing module is used for processing signals from the sensors.
In an example in which the detection unit 310 includes a camera and a signal processing module, a still image and a video of an object around the vehicle may be obtained using the camera mounted on the vehicle (e.g., in front of the vehicle). Then, the camera and the signal processing module perform wired/wireless communication to transfer the still image and the video to the signal processing module. Next, the signal processing module processes and analyzes the still image and the video, for example, if the signal processing module (1) recognizes the presence of an object having a straight edge in the still image; and (2) determine in the video that the object has a height that exceeds a certain value (e.g., 5cm), the object may be determined to be a curb.
In an example in which the detection unit 310 includes a laser sensor and a signal processing module, a stereoscopic image of an object around a vehicle after three-dimensional reconstruction may be obtained using the laser sensor mounted on the vehicle (e.g., in front of the vehicle). Then, the signal processing module processes and analyzes the above-described stereoscopic image, and for example, if it is determined that a linear object exists in the stereoscopic image and the object has a height exceeding a certain value (for example, 5cm), the object may be determined as a curb. Those skilled in the art will appreciate that other sensors such as ultrasonic sensors may be selected in place of the laser sensor in the above embodiments.
The selection unit 320 is configured to select a target wheel on the inner side of the wheel closer to the curb than the outer side of the wheel when driving toward the curb, based on the detected curb. According to an embodiment of the present invention, the selection unit 320 may include sensors (e.g., radar sensors) installed at the inner side and the outer side of each wheel, and select a target wheel whose wheel inner side is closer to the curb than the wheel outer side based on the detection result of the relative distance between the two sensors of each wheel and the curb. According to another embodiment of the present invention, the selection unit may further select the target vehicle with the wheel inner side closer to the curb than the wheel outer side using a numerical algorithm based on conditions such as a steering of the vehicle and/or a relative positional relationship between the vehicle and the curb.
The acquisition unit 330 is configured to acquire the minimum distance and the relative angle between the wheel inner side of the target wheel and the curb in real time. The term "in real-time" means that the time interval between two consecutive acquisition actions is less than a time threshold (e.g., 20 milliseconds). According to an embodiment of the present invention, the obtaining unit 330 may include a detecting device. The detection means may include a sensor and a signal processing module that communicate with each other, the sensor may include an ultrasonic sensor, a laser sensor, a radar sensor, a camera, and the like; the signal processing module is used for processing signals from the sensors. Further, the acquisition unit 330 may further include a simulation prediction device that may be configured to simulate and predict a running locus of the vehicle according to running parameters of the vehicle, and a calculation device that calculates a minimum distance and a relative angle of the wheel inner side of the target wheel with respect to the curb according to the received running locus of the vehicle and the position of the curb.
In one example of the acquisition unit 330, it comprises a detection device, an analog prediction device and a computing device in communication with both devices. First, the acquisition unit 330 detects whether a curb exists in the surroundings of the vehicle, and specifically, may detect whether a curb exists in the surroundings of the vehicle using a sensor (e.g., a camera, a laser sensor, or an ultrasonic sensor) mounted on the vehicle (e.g., in front of the vehicle head or under a mirror), and transmit data regarding the position of the detected curb to the computing device. At the same time, the computing device continuously tracks the detected curb through the above sensors and stores data relating to the location of the detected curb. Then, the simulation predicting means of the acquiring unit 330 simulates and predicts the running locus of the target wheel of the vehicle in real time based on the running parameters of the vehicle (for example, parameters obtained from signals of a wheel speed sensor, a steering sensor, and the like), and transmits data on the running locus of the target wheel of the vehicle to the calculating means. When the calculation means calculates that the vehicle partially or entirely covers the curb in the vehicle body length direction, the calculation means calculates the minimum distance and the relative angle of the wheel inner side of the target wheel with respect to the curb from the travel track of the vehicle and the position of the curb.
In another example where the acquisition unit 330 includes a detection device, a laser sensor or an ultrasonic sensor mounted on a vehicle (e.g., a vehicle chassis) or other suitable sensor may be used to obtain a three-dimensional reconstructed stereo image of the wheel and the object around the wheel. Then, the signal processing module processes and analyzes the stereo image, for example, first identifies the target wheel and the curb, and then calculates the minimum distance between the target wheel and the curb. The principle of identifying the target wheel is similar to that of the signal processing module identifying the curb described above, and thus is not described herein again.
In further examples where the acquisition unit 330 includes a detection device, the relative distance between the sensor and the curb may be obtained using a laser sensor or an ultrasonic sensor or a radar sensor or other suitable sensor mounted on a specific location of the vehicle (e.g., the hub of the target wheel) as the minimum distance of the wheel inner side of the target wheel relative to the curb.
In further examples where the acquisition unit 330 includes a detection device, a camera mounted on the vehicle (e.g., the vehicle chassis) may be used to obtain a static image of the wheels and objects around the wheels. Then, the camera and the signal processing module communicate wired/wireless to transfer the still image to the signal processing module. Next, the signal processing module processes and analyzes the static image, for example, the signal processing module first identifies the target wheel and the curb, and then the signal processing module calculates the relative angle between the target wheel and the curb. The principle of the signal processing module identifying the target wheel is similar to that of the signal processing module identifying the curb described above, and thus is not described herein again.
The judging unit 340 is configured to judge whether the minimum distance is smaller than a first threshold, and judge whether the relative angle is smaller than a second threshold. According to an embodiment of the present invention, the judging unit 340 may perform wired/wireless communication with the acquiring unit 330 to obtain the minimum distance and the relative angle, and the judging unit 340 has stored therein the first threshold and the second threshold, on the basis of which the judging unit 340 judges whether the minimum distance is smaller than the first threshold and judges whether the relative angle is smaller than the second threshold.
The execution unit 350 is configured to perform an action of preventing the target wheel from being damaged by the curb in response to a determination that the minimum distance is smaller than the first threshold and the relative angle is smaller than the second threshold.
According to an embodiment of the present invention, the performing unit 350 may include a steering driving device for driving the vehicle to steer toward a direction that the target wheel is away from the curb in response to a determination that the minimum distance is less than the first threshold and the relative angle is less than the second threshold. For example, in the case shown in fig. 2, when the determination unit 340 determines that the minimum distance between the target wheel (left front wheel) of the vehicle 1 and the curb 2 is smaller than the first threshold value and that the relative angle between the target wheel of the vehicle 1 and the curb 2 is smaller than the second threshold value, the steering drive device of the execution unit 350 is activated and, based on the determination, the vehicle is steered to the right to travel a certain distance (for example, 10 cm) to keep the target wheel away from the curb, thereby avoiding the left front wheel from being damaged by the curb.
Optionally, the system further comprises an activation unit, which may be configured to activate the steering drive means to automatically steer the vehicle towards a direction away from the curb in response to a determination that the minimum distance is less than a first threshold and the relative angle is less than a second threshold. Therefore, in the case shown in fig. 2, when the determination unit 340 determines that the minimum distance between the target wheel (left front wheel) of the vehicle 1 and the curb 2 is smaller than the first threshold value and that the relative angle between the target wheel of the vehicle 1 and the curb 2 is smaller than the second threshold value, the steering drive device causes the vehicle to steer rightward by a certain distance (for example, 10 cm) under activation of the activation unit, thereby enabling the target wheel to automatically move away from the curb. Alternatively, it is also possible to choose to steer the vehicle under the operation of the driver toward the direction in which the target wheel is away from the curb, and the driver decides the distance the vehicle travels in the direction away from the curb based on experience and/or current conditions.
According to a further embodiment of the present invention, the execution unit 350 may include a reverse drive device that drives the vehicle to travel backward in response to a determination that the minimum distance is less than a first threshold and the relative angle is less than a second threshold. For example, in the case shown in fig. 2, when the determination unit 340 determines that the minimum distance between the target wheel (e.g., the front left wheel) of the vehicle 1 and the curb 2 is smaller than the first threshold value and that the relative angle between the target wheel of the vehicle 1 and the curb 2 is smaller than the second threshold value, the reverse drive device of the execution unit 350 is activated and causes the vehicle to automatically travel backward by a certain distance (e.g., 10 cm) based on the determination to distance the target wheel from the curb, thereby avoiding the target wheel from being damaged by the curb. Alternatively, the vehicle may be caused to travel backward under the operation of the driver, and the driver decides the distance the vehicle travels backward based on experience and/or current conditions.
Alternatively, the system may further include a determination unit for determining a target wheel closest to the curb among target wheels whose wheel inner sides are closer to the curb than wheel outer sides when traveling toward the curb, and the acquisition unit may be configured to acquire, in real time, a minimum distance and a relative angle between the wheel inner side of the target wheel closest to the curb and the curb. According to an embodiment of the present invention, the determination unit may be in wired/wireless communication with the selection unit 320, and further determine the target wheel closest to the curb from among the target wheels, based on the target wheel selected by the selection unit 320. To this end, for example, the determination unit may extract data relating to the distance between the target wheel and the curb from the selection unit 320, and further analyze and process these data to determine the target wheel closest to the curb. According to a further embodiment, the determination unit may comprise detection means by which the determination unit obtains detection results and/or image information relating to minimum distances and relative angles between the wheels of the vehicle and the curb and performs analysis and processing to determine the target wheel closest to the curb. Here, the operation principle of the detection device is similar to that of the detection device described above, and thus, the description thereof is omitted.
Optionally, the system may further comprise a warning unit for warning the driver in response to a determination that the minimum distance is less than a first threshold and the relative angle is less than a second threshold. According to a preferred embodiment of the invention, the alarm unit comprises a visual alarm device and/or an acoustic alarm device and/or a tactile alarm device. For example, the visual alert device may include a display capable of illuminated, graphical and textual alerts. In this case, the target wheel judged that the minimum distance is smaller than the first threshold and the relative angle is smaller than the second threshold may be prominently (e.g., highlighted in red and blinked) displayed on the display, while the text "ALARM" is also displayed on the display to alert the driver. For example, the acoustic warning device may include an alarm that emits a sound to warn the driver when the determination unit determines that the minimum distance is less than the first threshold and the relative angle is less than the second threshold. For another example, the tactile alert device may include an alarm that vibrates to alert the driver when the determination unit determines that the minimum distance is less than the first threshold value and the relative angle is less than the second threshold value. In the situation shown in fig. 2, after receiving the visual and/or acoustic and/or tactile alarm, the driver may turn the steering wheel so that the vehicle is driven to the left, or the driver may reverse the vehicle so that the target wheel (e.g., the left front wheel) is away from the curb to avoid damage to the curb.
In the system for assisting the parking of a vehicle on a curb according to the invention, the first threshold value for the minimum distance may be a constant (e.g. 5cm) or a function of the relative angle.
In the system according to the invention for parking the auxiliary vehicle on the curb, the second threshold for the relative angle may be a constant (for example 15 °) or a function of the minimum distance.
According to an embodiment of the invention, the system for assisting the parking of a vehicle on a curb according to the invention may be activated manually by the driver at a moment deemed appropriate by the driver. The appropriate time may be, for example, a time when the driver makes a decision to park the vehicle at the curb, a time when the driver determines that a part of the head/tail of the vehicle is already located above the curb. The driver can manually activate the system by entering commands through buttons, touch, voice, etc. As an alternative, the system for assisting the parking of a vehicle on a curb according to the invention may be automatically activated when a triggering condition is met. The trigger condition may be, for example, the speed of the vehicle being below a predetermined speed threshold (e.g., detected by a vehicle speed sensor of the vehicle), the vehicle entering a parking lot (e.g., detected by a navigation device of the vehicle).
Although the embodiment according to the present invention is described in the case shown in fig. 2 (i.e., with the vehicle turned to the right and running forward to be parked on the curb), it can be understood by those skilled in the art that this is only one example of the application case of the present invention, which also includes the case where the vehicle is turned to the right and running backward, the case where the vehicle is turned to the left and running forward, the case where the vehicle is turned to the left and running backward to be parked on the curb, and the like.
Fig. 4 shows a flow chart of a method for assisting parking of a vehicle on a curb according to an embodiment of the invention. The method for assisting parking of a vehicle on a curb according to the present invention will be described below with reference to fig. 4.
As shown in fig. 4, the method for assisting parking of a vehicle on a curb according to the present invention includes the steps of:
in step S410, it is detected whether a curb exists in the surroundings of the vehicle. According to an embodiment of the present invention, in this detection process, first, a still image and a video of an object around the vehicle may be obtained. The obtained still image and video are then processed and analyzed, for example, if (1) an object having a straight line edge is identified in the still image; and (2) determine in the video that the object has a height that exceeds a certain value (e.g., 5cm), the object may be determined to be a curb. According to another embodiment of the present invention, in the detecting process, first, a three-dimensionally reconstructed stereoscopic image of an object around the vehicle may be obtained. Then, the stereoscopic image is processed and analyzed, and for example, if it is determined that a straight-line object exists in the stereoscopic image and the object has a height exceeding a certain value (for example, 5cm), the object may be determined as a curb.
In step S420, based on the detected curb, a target wheel whose wheel inner side is closer to the curb than its wheel outer side when traveling toward the curb is selected. According to the embodiment of the present invention, the target wheel whose wheel inside is closer to the curb than the wheel outside is selected based on the detection result of the relative distance between each wheel and the curb. According to another embodiment of the invention, a target vehicle with the inner side of the wheel closer to the curb than the outer side of the wheel can be selected by adopting a numerical algorithm based on conditions such as the steering of the vehicle and/or the relative position relationship between the vehicle and the curb.
In step S430, the minimum distance and the relative angle between the wheel inner side of the target wheel and the curb are acquired in real time. As noted above, the term "in real time" means that the time interval between two consecutive acquisition actions is less than a time threshold (e.g., 20 milliseconds). According to an embodiment of the present invention, first, whether a curb exists in the surrounding environment of the vehicle is detected; simultaneously, continuously tracking the detected curb and storing data relating to the location of the detected curb; then, simulating and predicting the running track of the target wheel of the vehicle in real time according to the running parameters of the vehicle; when the vehicle partially or completely covers the curb in the vehicle body length direction through calculation, the minimum distance and the relative angle of the inner side of the wheel of the target wheel relative to the curb are calculated according to the running track of the vehicle and the position of the curb. According to the other embodiment of the invention, a three-dimensional image of the wheel and the object around the wheel after three-dimensional reconstruction can be obtained; next, the above-described stereoscopic image is processed and analyzed, for example, first, a target wheel and a curb are identified, and then, a minimum distance between the target wheel and the curb is calculated. According to further embodiments of the present invention, the relative distance between the wheel hub and the curb of the target wheel may be obtained as the minimum distance of the wheel inner side of the target wheel relative to the curb.
In step S440, it is determined whether the minimum distance is smaller than a first threshold value, and it is determined whether the relative angle is smaller than a second threshold value. According to the embodiment of the present invention, the minimum distance and the relative angle obtained in the last step may be acquired, and the first threshold value and the second threshold value have been stored, on the basis of which it is determined whether the minimum distance is smaller than the first threshold value, and it is determined whether the relative angle is smaller than the second threshold value.
If it is determined in step S440 that the minimum distance is not less than the first threshold and/or that the relative angle is not less than the second threshold, the method returns to step S430 to continue to acquire the minimum distance and the relative angle between the wheel inner side of the target wheel and the curb in real time. If it is determined in step S440 that the minimum distance is less than the first threshold value and the relative angle is less than the second threshold value, the method proceeds to step S450.
In step S450, in response to a determination that the minimum distance is smaller than the first threshold value and the relative angle is smaller than the second threshold value, an action of preventing the wheel inner side of the target wheel from being damaged by the curb is performed. According to the embodiment of the invention, the vehicle may be driven to turn toward the direction in which the target wheel is away from the curb in response to the determination that the minimum distance is smaller than the first threshold and the relative angle is smaller than the second threshold. For example, the vehicle may be automatically driven to steer toward a direction that moves the target wheel away from the curb in response to a determination that the minimum distance is less than a first threshold and the relative angle is less than a second threshold. For another example, the driver may also be prompted in response to a determination that the minimum distance is less than the first threshold and the relative angle is less than the second threshold to move the target wheel of the vehicle away from the curb under the operation of the driver. According to another embodiment of the present invention, the vehicle may be driven to travel backward in response to the determination that the minimum distance is smaller than the first threshold and the relative angle is smaller than the second threshold, and the operation process is similar to the operation process of the steering, and is not described herein again.
Alternatively, after the target wheel is selected (after step S420), a step of determining a target wheel closest to the curb among the target wheels whose wheel inner sides are closer to the curb than the wheel outer sides when traveling toward the curb, and acquiring a minimum distance and a relative angle between the wheel inner side of the target wheel closest to the curb and the curb in real time is further included. According to the embodiment of the invention, the target wheel closest to the curb among the target wheels can be further judged based on the selected target wheels. To this end, for example, data relating to the distance between the target wheel and the curb may be extracted, and further analyzed and processed to determine the target wheel closest to the curb. According to further embodiments, it is also possible to obtain detection results and/or image information relating to the wheels and the curb of the vehicle and to analyze and process the same to determine the target wheel closest to the curb.
Optionally, the method further comprises the step of alerting the driver in response to a determination that the minimum distance is less than a first threshold and the relative angle is less than a second threshold. According to a preferred embodiment of the invention, the alarm comprises a visual alarm and/or an acoustic alarm and/or a tactile alarm. For example, visual alerts may include lighted alerts, graphical alerts, and text alerts. In this case, the target wheel judged to be the minimum distance smaller than the first threshold and the relative angle smaller than the second threshold may be displayed prominently (e.g., highlighted in red and blinked) while the text "ALARM" is displayed to alert the driver. For example, the acoustic warning may emit a warning sound to warn the driver when the determination unit determines that the minimum distance is smaller than the first threshold and the relative angle is smaller than the second threshold. For another example, the haptic alert may vibrate to alert the driver when the determination unit determines that the minimum distance is less than the first threshold and the relative angle is less than the second threshold.
In the method for assisting parking of a vehicle on a curb according to the present invention, the first threshold for the minimum distance may be a constant (e.g., 5cm) or a function of relative angle.
In the method according to the invention for assisting the parking of a vehicle on a curb, the second threshold value for the relative angle may be a constant (e.g. 15 °) or a function of the minimum distance.
Before starting the method according to the invention for assisting the parking of a vehicle at a curb, the driver can determine the appropriate point at which to start the method. The appropriate time may be, for example, a time when the driver makes a decision to park the vehicle at the curb, a time when the driver determines that a part of the head/tail of the vehicle is already located above the curb. The driver may manually initiate the method to perform its steps by pressing a button, touch action, voice input, etc. As an alternative, the method according to the invention for assisting the parking of a vehicle on a curb may be performed automatically when the triggering condition is fulfilled. The trigger condition may be, for example, the speed of the vehicle being below a predetermined speed threshold (e.g., detected by a vehicle speed sensor of the vehicle), the vehicle entering a parking lot (e.g., detected by a navigation device of the vehicle).
As described above, although the exemplary embodiments of the present invention have been described in the description with reference to the drawings, the present invention is not limited to the above-described embodiments, and the scope of protection of the present invention should be defined by the claims and their equivalents.
Claims (14)
1. A system for assisting the parking of a vehicle on a curb, the system comprising:
a detection unit for detecting whether the curb exists in a surrounding environment of the vehicle;
a selection unit for selecting a target wheel on a wheel inner side closer to the curb than a wheel outer side when driving toward the curb, based on the detected curb;
an acquisition unit for acquiring, in real time, a minimum distance and a relative angle between a wheel inner side of the target wheel and the curb;
a determination unit configured to determine whether the minimum distance is smaller than a first threshold value and determine whether the relative angle is smaller than a second threshold value; and
an execution unit for executing an action of preventing the target wheel from being damaged by the curb in response to a determination that the minimum distance is smaller than the first threshold and the relative angle is smaller than the second threshold,
wherein the acquisition unit includes a detection device for transmitting data relating to the position of the detected curb to the calculation device, a simulation prediction device for continuously tracking the detected curb by the detection device and storing the data relating to the position of the detected curb, and a calculation device in communication with both, the simulation prediction device simulating and predicting the travel locus of the target wheel in real time according to the travel parameters of the vehicle, and transmitting the data relating to the travel locus of the target wheel to the calculation device; and (c) a second step of,
when the calculation means calculates that the vehicle partially or entirely covers the curb in the vehicle body length direction, the calculation means calculates the minimum distance and the relative angle of the wheel inner side of the target wheel with respect to the curb from the travel track of the vehicle and the position of the curb.
2. The system of claim 1, wherein the execution unit includes a steering drive configured to steer the vehicle toward a direction that moves the target wheel away from the curb in response to a determination that the minimum distance is less than a first threshold and the relative angle is less than a second threshold.
3. The system of claim 1, wherein the execution unit comprises a reverse drive device configured to drive the vehicle backward in response to a determination that the minimum distance is less than the first threshold and the relative angle is less than the second threshold.
4. The system according to claim 1, wherein the system further comprises a determination unit configured to determine a target wheel closest to the curb among the target wheels whose wheel inner sides are closer to the curb than wheel outer sides when driving toward the curb, the acquisition unit being configured to acquire the minimum distance and the relative angle between the wheel inner side of the target wheel closest to the curb and the curb in real time.
5. The system of claim 1, wherein the system further comprises an alert unit configured to alert a driver in response to a determination that the minimum distance is less than a first threshold and the relative angle is less than a second threshold.
6. The system according to claim 5, wherein the alarm unit comprises a visual alarm device and/or an acoustic alarm device and/or a tactile alarm device.
7. The system of claim 2, further comprising an activation unit configured to activate the steering drive to automatically steer the vehicle toward steering the target wheel away from the curb in response to a determination that the minimum distance is less than a first threshold and the relative angle is less than a second threshold.
8. A method for assisting parking of a vehicle on a curb, the method comprising the steps of:
detecting whether the curb is present in a surrounding of the vehicle;
selecting a target wheel that is closer to the curb on an inner side than an outer side of the wheel when driving toward the curb, based on the detected curb;
acquiring a minimum distance and a relative angle between the wheel inner side of the target wheel and the curb in real time;
judging whether the minimum distance is smaller than a first threshold value or not, and judging whether the relative angle is smaller than a second threshold value or not; and
performing an action of preventing the wheel inner side of the target wheel from being damaged by the curb in response to a determination that the minimum distance is smaller than the first threshold and the relative angle is smaller than the second threshold,
wherein, while acquiring the minimum distance and the relative angle in real time, detecting a position of a curb, continuously tracking the detected curb and storing data related to the detected position of the curb, simulating and predicting a driving trajectory of the target wheel in real time according to driving parameters of the vehicle; and the number of the first and second groups,
when the vehicle partially or completely covers the curb in the length direction of the vehicle body, the minimum distance and the relative angle of the inner side of the wheel of the target wheel relative to the curb are calculated according to the running track of the vehicle and the position of the curb.
9. The method of claim 8, wherein responsive to a determination that the minimum distance is less than the first threshold and the relative angle is less than the second threshold, steering the vehicle toward steering the target wheel away from the curb.
10. The method of claim 8, wherein the vehicle is driven rearward in response to a determination that the minimum distance is less than the first threshold and the relative angle is less than the second threshold.
11. The method according to claim 8, wherein the method further comprises the step of determining a target wheel closest to the curb among the target wheels whose wheel inner sides are closer to the curb than wheel outer sides when driving toward the curb, and acquiring the minimum distance and the relative angle between the wheel inner side of the target wheel closest to the curb and the curb in real time.
12. The method of claim 9, further comprising alerting a driver in response to a determination that the minimum distance is less than the first threshold and the relative angle is less than the second threshold.
13. The method of claim 12, wherein the alert comprises a visual alert and/or an acoustic alert and/or a tactile alert.
14. The method of claim 10, wherein the vehicle is automatically driven to steer toward moving the target wheel away from the curb in response to a determination that the minimum distance is less than the first threshold and the relative angle is less than the second threshold.
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