CN110281917A - A kind of autonomous parking control method - Google Patents
A kind of autonomous parking control method Download PDFInfo
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- CN110281917A CN110281917A CN201910466359.0A CN201910466359A CN110281917A CN 110281917 A CN110281917 A CN 110281917A CN 201910466359 A CN201910466359 A CN 201910466359A CN 110281917 A CN110281917 A CN 110281917A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/06—Automatic manoeuvring for parking
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
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Abstract
The present invention relates to vehicle parking technical fields, specifically disclose a kind of autonomous parking control method, comprising the following steps: S201, detection divide the stop line on parking stall, determine target parking position to be detected；Whether there are obstacles in S202, the detection target parking position to be detected, if it exists barrier, then disturbance in judgement object state, and barrier, then enter step S3 if it does not exist；S203, obtain barrier according to the disturbance in judgement object state and belong to stationary object, send exception information to vehicle networked mobile terminal；Barrier is obtained according to the disturbance in judgement object state and belongs to mobile object, and vehicle issues the first alarm signal, after the first time threshold of setting, return step S202；The present invention more accurate can find empty parking space, the interference for avoiding barrier from finding empty parking space, and warn to the mobile object on empty parking space, and vehicle is made smoothly to stop the hunting time for reducing empty parking space into parking stall.
Description
Technical field
The present invention relates to vehicle parking technical field more particularly to a kind of autonomous parking control methods.
Background technique
With the improvement of people ' s living standards with the fast development of vehicle technology, vehicle has become more and more people and uses
Trip tool.However, the problem of parking becomes the problem that driver faces with the growth of vehicle fleet size.On the one hand, empty wagons
Position is increasingly difficult to look for, and driver requires a great deal of time when finding empty parking space；On the other hand, some just take is driven
According to new hand, in parking process needs very careful, avoids that vehicle occurs and the safety accidents such as scrapes because experience is insufficient.
To solve the problems, such as that driver parks hardly possible, many depots start to research and develop automatic parking technology, and Some vehicles are also
Through realizing the function of autonomous parking.However, the technology is during finding empty parking space, there is also have shortcoming.Such as, if
Someone's gear is on parking stall or has barrier to be set on parking stall, then is judged as non-empty parking stall, then proceedes to find parking place, should
Mode is not only not accurate enough to the judgement of empty parking space, while can also waste a large amount of time on finding empty parking space.
Summary of the invention
In view of the above technical problems, the present invention provides a kind of autonomous parking control methods, can be more accurate to sky
Parking stall is found, the interference for avoiding barrier from finding empty parking space, and is warned to the mobile object on empty parking space, and vehicle is made
Smoothly stop the hunting time that empty parking space is reduced into parking stall.
In order to solve the above technical problem, the present invention provides concrete scheme it is as follows:
A kind of autonomous parking control method, comprising the following steps:
S1, the autonomous parking request for obtaining user's input；
S2, after getting autonomous parking request, determine target parking position by vehicle sensors；
S3, it is controlled in vehicle automatic running to target parking position and is stopped by autonomous parking controller；
Wherein, the step S2, after getting autonomous parking request, determine target parking position by vehicle sensors,
It specifically includes:
S201, detection divide the stop line on parking stall, determine target parking position to be detected；
Whether there are obstacles in S202, the detection target parking position to be detected, if it exists barrier, then disturbance in judgement object shape
State, barrier, then enter step S3 if it does not exist；
S203, barrier is obtained according to the disturbance in judgement object state belong to stationary object, send exception information and arrive and vehicle connection
The mobile terminal of net；
Barrier is obtained according to the disturbance in judgement object state and belongs to mobile object, and vehicle issues the first alarm signal, setting
First time threshold after, return step S202.
Optionally, the autonomous parking controller control vehicle is travelled according to the planning driving path planned to target parking position
Interior parking saves the planning driving path planning time at scene, the time required to reduction is parked.
Optionally, the step S3, by autonomous parking controller control vehicle automatic running to target parking position in stop
Vehicle specifically includes:
S301, the second alarm signal is issued；
S302, whether there are obstacles for detection vehicle periphery；
S303, if it exists barrier, then disturbance in judgement object state, and the traveling of vehicle is adjusted according to the barrier state
Whole, barrier, then stop in vehicle automatic running to target parking position if it does not exist.
It realizes autonomous parking function, without artificial interference, while also improving the safety of autonomous parking.
Optionally, in the step S303, barrier if it exists, then disturbance in judgement object state, and according to the barrier
State is adjusted the traveling of vehicle, specifically includes,
S3031, barrier belong to stationary object, and stationary vehicle waits, and send exception information to vehicle networked mobile end
End, after the second time threshold of setting, return step S302；
S3032, barrier belong to mobile object, and whether disturbance in judgement object and the linear distance of vehicle are greater than threshold at a distance from setting
Value, if more than the distance threshold of setting, then issues third alarm signal, if being less than the distance threshold of setting, by independently mooring
Vehicle controller is adjusted the traveling of vehicle.
Optionally, the planning process of the planning driving path, specifically includes:
The common parking field picture of vehicle sensors acquisition is first passed through in advance, constructs common parking lot electronic map, extracts common parking
Important logo image in positions vehicle, by driver around fixed route row the location of in common parking lot
It sails, is trained study, form the planning driving path of autonomous parking.
Optionally, the disturbance in judgement object state, specifically includes:
The image of vehicle sensors acquisition is pre-processed, characteristic point calculating is carried out to pretreated image, obtains feature
Point calculated result；
The characteristic point calculated result is matched with vehicle classification device, barrier Status Type is obtained according to matching result.
Optionally, the vehicle classification device is in advance acquired barrier Status Type, and barrier Status Type can wrap
Mobile object and stationary object are included, and mobile object includes people, animal, bicycle etc., stationary object then includes road stake, occupy-place
Lock etc..
Optionally, the vehicle sensors include camera, millimetre-wave radar and ultrasonic radar, pass through camera, milli
Metre wave radar and ultrasonic radar are detected and are identified to the barrier on target parking position.
Optionally, first alarm signal passes through vehicle speakers specifically, vehicle speakers open alarm voice
The barrier opened in alarm phonetic warning target parking position leaves.
Optionally, second alarm signal alerts specifically, automobile front lamp issues double dodge；
The third alarm signal is warned specifically, automobile front lamp, which issues double alarm and loudspeaker of dodging, issues alarm call using classification
Method improves autonomous parking safety.
Compared with prior art, the beneficial effects of the present invention are: the present invention more accurate to carry out to empty parking space
It finds, the interference for avoiding barrier from finding empty parking space, and the mobile object on empty parking space is warned, stop vehicle smoothly
Into parking stall, the hunting time of empty parking space is reduced.
Detailed description of the invention
Fig. 1 is the autonomous parking control method flow chart in the embodiment of the present invention.
Fig. 2 is the specific flow chart on parking stall of setting the goal really in the embodiment of the present invention.
Fig. 3 is the specific flow chart stopped in vehicle automatic running to target parking position in the embodiment of the present invention.
Fig. 4 is the specific flow chart being adjusted according to traveling of the barrier state to vehicle in the embodiment of the present invention.
Specific embodiment
For the technical solution that the present invention will be described in detail, below in conjunction with the attached drawing of the embodiment of the present invention, to of the invention real
The technical solution for applying example carries out clear, complete description.Obviously, described embodiment is a part of the embodiments of the present invention,
Instead of all the embodiments.Based on described the embodiment of the present invention, those of ordinary skill in the art are without creativeness
Every other embodiment obtained, shall fall within the protection scope of the present invention under the premise of labour.
Unless otherwise defined, all technical and scientific terms used herein and belong to technical field of the invention
The normally understood meaning of technical staff it is identical.Term used herein is intended merely to description specific embodiment
Purpose, it is not intended that in the limitation present invention.Term " and or " used herein includes one or more relevant listed items
Any and all combinations.
For example, a kind of autonomous parking control method, comprising the following steps:
S1, the autonomous parking request for obtaining user's input；
S2, after getting autonomous parking request, determine target parking position by vehicle sensors；
S3, it is controlled in vehicle automatic running to target parking position and is stopped by autonomous parking controller；
Wherein, the step S2, after getting autonomous parking request, determine target parking position by vehicle sensors,
It specifically includes:
S201, detection divide the stop line on parking stall, determine target parking position to be detected；
Whether there are obstacles in S202, the detection target parking position to be detected, if it exists barrier, then disturbance in judgement object shape
State, barrier, then enter step S3 if it does not exist；
S203, barrier is obtained according to the disturbance in judgement object state belong to stationary object, send exception information and arrive and vehicle connection
The mobile terminal of net；
Barrier is obtained according to the disturbance in judgement object state and belongs to mobile object, and vehicle issues the first alarm signal, setting
First time threshold after, return step S202.
In the present embodiment, more accurate empty parking space can be found, barrier is avoided to do empty parking space searching
It disturbs, and the mobile object on empty parking space is warned, vehicle is made smoothly to stop the hunting time for reducing empty parking space into parking stall.
In some embodiments, as depicted in figs. 1 and 2, a kind of autonomous parking control method is provided, comprising the following steps:
S1, the autonomous parking request for obtaining user's input.
Specifically, user can be connect by mobile terminal with vehicle-mounted T-BOX, realize logical between mobile terminal and vehicle
Letter, mobile terminal, which can be mobile phone, Ipad etc., herein can install the electronic equipment of vehicle-mounted control APP, can after user gets off
To input autonomous parking request by mobile terminal, it is of course also possible to autonomous parking request is pressed on vehicle control panel, and
Setting starts to carry out the autonomous parking stage after a certain time.
S2, after getting autonomous parking request, determine target parking position by vehicle sensors.
Specifically, vehicle sensors may include the camera that outside vehicle is arranged in, millimetre-wave radar and ultrasonic wave thunder
It reaches, camera is for acquiring vehicle periphery image information, and millimetre-wave radar and ultrasonic radar are then used to detect vehicle periphery
Obstacle information, determine target parking position in conjunction with the information that each sensor obtains.
S3, it is controlled in vehicle automatic running to target parking position and is stopped by autonomous parking controller.
Specifically, vehicle is under the control of autonomous parking controller, automatic running to mesh after target parking position has been determined
It marks in parking stall and stops, without artificial interference, realize autonomous parking function.
Wherein, the step S2, after getting autonomous parking request, determine that target is stopped by vehicle sensors
Position, specifically includes:
S201, detection divide the stop line on parking stall, determine target parking position to be detected.
In roadside or parking lot, the stop line on parking stall usually can be all divided, to carry out standardization pipe to parked vehicle
Reason, and the stop line on the parking stall of a completion, presentation is a rectangle frame, including two longitudinal edges and two widthwise edges,
Driver can be according to the division of stop line, will be in vehicle parking to a complete parking stall.In this example, it is drawn by detection
The stop line for dividing parking stall, to determine target parking position to be detected, if other vehicles have been parked on a parking stall, then wait moor
The vehicle of vehicle is the four edges that can not collect a complete parking stall simultaneously, e.g., has parked vehicle when vehicle to be parked is located at
Left side when, should vehicle be parked can not collect parked cars belonging to parking stall right edge；Such as, when wait moor
When the vehicle of vehicle is located at the right side to have parked cars, the affiliated parking that parked cars can not be collected by being somebody's turn to do vehicle to be parked
The left side of position.Therefore, when the vehicle wait park is able to detect that four side lengths on a completion parking stall, that is, illustrate that this stops
The parking stall can be determined as target parking position to be detected currently without other vehicle parkings by parking stall.
Whether there are obstacles in S202, the detection target parking position to be detected, if it exists barrier, then disturbance in judgement
Object state, barrier, then enter step S3 if it does not exist.
Specifically, needing to judge to whether there is in the parking stall has barrier after target parking position to be detected has been determined,
The autonomous parking technology occurred on current market does not judge barrier in parking stall, when finding empty parking space,
When occurring barrier in parking stall, that is, it is judged as non-empty parking stall, and then continually looks for other empty parking spaces.In the example
In, it need to be detected to whether there are obstacles in target parking position to be detected, if it exists barrier, then disturbance in judgement object shape
State, barrier, then enter step S3 if it does not exist, controls vehicle automatic running to target parking position by autonomous parking controller
Interior parking.
S203, obtain barrier according to the disturbance in judgement object state and belong to stationary object, send exception information to vehicle
Networking mobile terminal.
Barrier, which is obtained, according to the disturbance in judgement object state belongs to mobile object, vehicle issues the first alarm signal,
After the first time threshold of setting, return step S202.
Specifically, when judgement obtains barrier and belongs to stationary object, i.e., transmission exception information to vehicle networked shifting
Dynamic terminal, stationary object herein may be occupy-place lock, road stake or other occupy parking stall can not autonomous
Exception information is sent mobile terminal by object, and user may choose whether that the barrier on parking stall can be handled, by it
It moves away, or control vehicle finds next target parking position to be detected.When judgement, which obtains barrier, is in mobile object, i.e.,
It proves that barrier can be independently subjected to displacement, then can control vehicle to issue the first alarm signal, warn the motive objects in parking stall
Body leaves the parking stall, after the first time threshold of setting, returns to step S202, continues to test target parking position to be detected
Interior whether there is has barrier, and if it exists, then disturbance in judgement object state, barrier, then enter step S3 if it does not exist, by certainly
It stops in main controller control vehicle automatic running to target parking position of parking.In this example, first time threshold can be 2
Minute, after issuing the first alarm signal 2 minutes, the target parking position to be detected is detected again, is avoided due to the time
It is too short, so that the mobile object in target parking position to be detected has not enough time to leave, while also avoiding causing due to overlong time
It takes a significant amount of time on autonomous parking.
In some embodiments, the autonomous parking controller control vehicle is travelled according to the planning driving path planned to mesh
It marks in parking stall and stops.
Specifically, the planning process of planning driving path includes: that the pre- vehicle sensors that first pass through acquire common parking field picture, structure
It builds common parking lot electronic map, extracts important logo image in common parking lot, it is locating in common parking lot to vehicle
Position is positioned, and is travelled by driver around fixed route, is trained study, forms the planning driving path of autonomous parking.Herein
For a self study process, is travelled in advance by driver around fixed route, be trained study, form the roadway of autonomous parking
Diameter, when starting autonomous parking function, vehicle can find suitable planning driving path according to its positioning.
In some embodiments, as shown in figure 3, the step S3, by autonomous parking controller control the automatic row of vehicle
It sails to stopping in target parking position, specifically includes:
S301, the second alarm signal is issued.
When stopping in autonomous parking controller control vehicle automatic running to target parking position, that is, illustrate that vehicle starts to send out
Raw displacement, therefore, issuing the second alarm signal can warn the pedestrian etc. of vehicle periphery to arouse attention, and avoid the occurrence of safe thing
Therefore improve the safety of autonomous parking.
S302, whether there are obstacles for detection vehicle periphery.
Specifically, in this example, whether there are obstacles for the detection vehicle periphery, and referred to vehicle is according to autonomous
Detection of obstacles in the planning driving path of controller of parking planning, naturally it is also possible to including in addition to the barrier in planning driving path
Detection, but to save the autonomous parking time, only the barrier in planning driving path is detected in this example.
S303, if it exists barrier, then disturbance in judgement object state, and according to the barrier state to the traveling of vehicle into
Row adjustment, barrier, then stop in vehicle automatic running to target parking position if it does not exist.
Specifically, barrier if it exists, then illustrate that the barrier may be mobile object, be also possible to stationary object, if
It is mobile object, then can be warned by issuing, remind mobile object to leave planning driving path, in this process, then need to adjust vehicle
Travel speed or wait stationary vehicle, if be not present barrier, then in vehicle automatic running to target parking position
Parking.
In some embodiments, as shown in figure 4, in the step S303, barrier if it exists, then disturbance in judgement object shape
State, and the traveling of vehicle is adjusted according to the barrier state, it specifically includes,
S3031, barrier belong to stationary object, and stationary vehicle waits, and send exception information to vehicle networked mobile end
End, after the second time threshold of setting, return step S302.
Specifically, if barrier belongs to stationary object, need it is artificial stationary object is moved away from into planning driving path, setting
Second time threshold after, return step S302, detection vehicle periphery whether there are obstacles.In this example, the second time
Threshold value is 2 minutes, i.e., after the 2 minutes, detects vehicle periphery again with the presence or absence of there is barrier, which both will not be due to
Time is too short, so that the outer personnel of vehicle have little time to move away from barrier, while also avoiding causing to take a significant amount of time due to overlong time
On autonomous parking.
S3032, barrier belong to mobile object, and whether disturbance in judgement object and the linear distance of vehicle are greater than at a distance from setting
Threshold value then issues third alarm signal if more than the distance threshold of setting, if being less than the distance threshold of setting, by autonomous
Controller of parking is adjusted the traveling of vehicle.
Specifically, distance threshold herein can be 10 meters, i.e., when the distance when mobile object apart from vehicle is more than ten meters,
Third alarm signal is issued, reminds mobile object carrying out autonomous parking herein, when distance of the mobile object apart from vehicle
It when less than 10 meters, is then adjusted by traveling of the autonomous parking controller to vehicle, adjusts the travel speed of vehicle or make
Stationary vehicle waiting when object to be moved and vehicle distances are more than 10 meters, then restores original travel speed or vehicle again
Starting.
In some embodiments, the planning process of the planning driving path, specifically includes:
The common parking field picture of vehicle sensors acquisition is first passed through in advance, constructs common parking lot electronic map, extracts common parking
Important logo image in positions vehicle, by driver around fixed route row the location of in common parking lot
It sails, is trained study, form the planning driving path of autonomous parking.
In some embodiments, the disturbance in judgement object state, specifically includes:
The image of vehicle sensors acquisition is pre-processed, characteristic point calculating is carried out to pretreated image, obtains feature
Point calculated result；The characteristic point calculated result is matched with vehicle classification device, barrier shape is obtained according to matching result
State type.
Specifically, vehicle classification device is in advance acquired barrier Status Type, barrier Status Type may include moving
Animal body and stationary object, and mobile object includes people, animal, bicycle etc., stationary object then includes road stake, occupy-place lock
Deng.Certainly, in practical application, vehicle classification device barrier Status Type collected and comprise more than it is above-mentioned enumerated, also
It may include the barrier Status Type for occupying parking stall often found in other practical applications.Pass through barrier gathered in advance
Status Type, can during later period vehicle autonomous parking, when disturbance in judgement object state, by the image of vehicle sensors acquisition into
Row pretreatment carries out characteristic point calculating to pretreated image, obtains characteristic point calculated result；The characteristic point is calculated and is tied
Fruit is matched with vehicle classification device, obtains barrier Status Type according to matching result.
In some embodiments, the vehicle sensors include camera, millimetre-wave radar and ultrasonic radar, by taking the photograph
As head, millimetre-wave radar and ultrasonic radar are detected and identified to the barrier on target parking position.
In some embodiments, first alarm signal passes through vehicle specifically, vehicle speakers open alarm voice
The barrier that loudspeaker is opened in alarm phonetic warning target parking position leaves, e.g., capable of emitting " vehicle enters automatic parking,
Please exit empty parking space ", to warn the barrier in target parking position to leave.
In some embodiments, second alarm signal alerts specifically, automobile front lamp issues double dodge；The third
Alarm signal, specifically, automobile front lamp issues, double sudden strains of a muscle are alerted and loudspeaker issue alarm call, and using classification alarming method for power, raising is certainly
Main safety of parking.
Each technical characteristic of embodiment described above can be combined arbitrarily, for simplicity of description, not to above-mentioned reality
It applies all possible combination of each technical characteristic in example to be all described, as long as however, the combination of these technical characteristics is not deposited
In contradiction, all should be considered as described in this specification.
The embodiments described above only express several embodiments of the present invention, and the description thereof is more specific and detailed, but simultaneously
Therefore it cannot understand limitations on the scope of the patent of the present invention.It should be pointed out that coming for those of ordinary skill in the art
It says, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to protection of the invention
Range, therefore, protection scope of the present invention should be determined by the appended claims.
Claims (10)
1. a kind of autonomous parking control method, which comprises the following steps:
S1, the autonomous parking request for obtaining user's input；
S2, after getting autonomous parking request, determine target parking position by vehicle sensors；
S3, it is controlled in vehicle automatic running to target parking position and is stopped by autonomous parking controller；
Wherein, the step S2, after getting autonomous parking request, determine target parking position by vehicle sensors,
It specifically includes:
S201, detection divide the stop line on parking stall, determine target parking position to be detected；
Whether there are obstacles in S202, the detection target parking position to be detected, if it exists barrier, then disturbance in judgement object shape
State, barrier, then enter step S3 if it does not exist；
S203, barrier is obtained according to the disturbance in judgement object state belong to stationary object, send exception information and arrive and vehicle connection
The mobile terminal of net；
Barrier is obtained according to the disturbance in judgement object state and belongs to mobile object, and vehicle issues the first alarm signal, setting
First time threshold after, return step S202.
2. autonomous parking control method according to claim 1, which is characterized in that the autonomous parking controller controls vehicle
It travels according to the planning driving path planned to stopping in target parking position.
3. autonomous parking control method according to claim 2, which is characterized in that the step S3, pass through autonomous parking
It stops, specifically includes in controller control vehicle automatic running to target parking position:
S301, the second alarm signal is issued；
S302, whether there are obstacles for detection vehicle periphery；
S303, if it exists barrier, then disturbance in judgement object state, and the traveling of vehicle is adjusted according to the barrier state
Whole, barrier, then stop in vehicle automatic running to target parking position if it does not exist.
4. autonomous parking control method according to claim 3, which is characterized in that in the step S303, hinder if it exists
Hinder object, then disturbance in judgement object state, and the traveling of vehicle be adjusted according to the barrier state, specifically includes,
S3031, barrier belong to stationary object, and stationary vehicle waits, and send exception information to vehicle networked mobile end
End, after the second time threshold of setting, return step S302；
S3032, barrier belong to mobile object, and whether disturbance in judgement object and the linear distance of vehicle are greater than threshold at a distance from setting
Value, if more than the distance threshold of setting, then issues third alarm signal, if being less than the distance threshold of setting, by independently mooring
Vehicle controller is adjusted the traveling of vehicle.
5. autonomous parking control method according to claim 2, which is characterized in that the planning process of the planning driving path,
It specifically includes:
The common parking field picture of vehicle sensors acquisition is first passed through in advance, constructs common parking lot electronic map, extracts common parking
Important logo image in positions vehicle, by driver around fixed route row the location of in common parking lot
It sails, is trained study, form the planning driving path of autonomous parking.
6. autonomous parking control method according to claim 1, which is characterized in that the disturbance in judgement object state, specifically
Include:
The image of vehicle sensors acquisition is pre-processed, characteristic point calculating is carried out to pretreated image, obtains feature
Point calculated result；
The characteristic point calculated result is matched with vehicle classification device, barrier Status Type is obtained according to matching result.
7. autonomous parking control method according to claim 6, which is characterized in that the vehicle classification device is in advance to obstacle
Object Status Type is acquired.
8. autonomous parking control method according to claim 1, which is characterized in that the vehicle sensors include camera shooting
Head, millimetre-wave radar and ultrasonic radar.
9. autonomous parking control method according to claim 1, which is characterized in that first alarm signal, specifically,
Vehicle speakers open alarm voice.
10. autonomous parking control method according to claim 4, which is characterized in that second alarm signal, specifically
For automobile front lamp issues double dodge and alerts；
The third alarm signal, specifically, automobile front lamp, which issues double alarm and loudspeaker of dodging, issues alarm call.
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Cited By (20)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111137280A (en) * | 2020-03-06 | 2020-05-12 | 北京百度网讯科技有限公司 | Control method, device and equipment for autonomous parking and storage medium |
| CN111762153A (en) * | 2020-06-02 | 2020-10-13 | 武汉理工大学 | Automatic automobile parking method based on 5G communication mode |
| CN112216136A (en) * | 2020-09-15 | 2021-01-12 | 华人运通(上海)自动驾驶科技有限公司 | Parking space detection method and device, vehicle and storage medium |
| CN112277935A (en) * | 2020-10-30 | 2021-01-29 | 广州小鹏自动驾驶科技有限公司 | Automatic parking method and device |
| CN112406855A (en) * | 2020-09-15 | 2021-02-26 | 华人运通(上海)自动驾驶科技有限公司 | Automatic parking method and device, vehicle and storage medium |
| CN112785864A (en) * | 2019-11-11 | 2021-05-11 | 丰田自动车株式会社 | Automatic parking system |
| CN112801024A (en) * | 2021-02-09 | 2021-05-14 | 广州小鹏自动驾驶科技有限公司 | Detection information processing method and device |
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| CN115346387A (en) * | 2021-04-28 | 2022-11-15 | 通用汽车环球科技运作有限责任公司 | Intelligent parking auxiliary system for reducing illegal parking |
| CN115593397A (en) * | 2022-11-29 | 2023-01-13 | 小米汽车科技有限公司（Cn） | Vehicle control method, device, storage medium and chip |
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| CN112785864A (en) * | 2019-11-11 | 2021-05-11 | 丰田自动车株式会社 | Automatic parking system |
| CN112835350A (en) * | 2019-11-22 | 2021-05-25 | 杭州海康威视数字技术股份有限公司 | Automatic parking method, device and system |
| CN111137280B (en) * | 2020-03-06 | 2021-05-04 | 北京百度网讯科技有限公司 | Control method, device and equipment for autonomous parking and storage medium |
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| CN113408320A (en) * | 2020-03-16 | 2021-09-17 | 上海博泰悦臻网络技术服务有限公司 | Method, electronic device, and computer storage medium for vehicle collision avoidance |
| CN113548037A (en) * | 2020-04-08 | 2021-10-26 | 威马智慧出行科技（上海）有限公司 | Obstacle occurrence response processing method in automatic parking process, electronic equipment and automobile |
| CN111762153A (en) * | 2020-06-02 | 2020-10-13 | 武汉理工大学 | Automatic automobile parking method based on 5G communication mode |
| EP4206050A4 (en) * | 2020-08-31 | 2024-03-27 | Great Wall Motor Company Limited | Vehicle parking method, vehicle parking device, parking system, and vehicle |
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| CN114255608A (en) * | 2020-09-19 | 2022-03-29 | 华为技术有限公司 | Parking control method and related equipment |
| CN112277935B (en) * | 2020-10-30 | 2022-03-11 | 广州小鹏自动驾驶科技有限公司 | Automatic parking method and device |
| CN112277935A (en) * | 2020-10-30 | 2021-01-29 | 广州小鹏自动驾驶科技有限公司 | Automatic parking method and device |
| CN112801024B (en) * | 2021-02-09 | 2023-08-29 | 广州小鹏自动驾驶科技有限公司 | Detection information processing method and device |
| CN112801024A (en) * | 2021-02-09 | 2021-05-14 | 广州小鹏自动驾驶科技有限公司 | Detection information processing method and device |
| CN115035707A (en) * | 2021-03-05 | 2022-09-09 | 丰田自动车株式会社 | Automatic parking system and control method thereof |
| CN115035707B (en) * | 2021-03-05 | 2023-09-29 | 丰田自动车株式会社 | Automatic parking system and control method thereof |
| CN113129632A (en) * | 2021-03-30 | 2021-07-16 | 中国联合网络通信集团有限公司 | Autonomous parking method, AVP platform and parking lot management system |
| CN115346387A (en) * | 2021-04-28 | 2022-11-15 | 通用汽车环球科技运作有限责任公司 | Intelligent parking auxiliary system for reducing illegal parking |
| CN113479196A (en) * | 2021-08-17 | 2021-10-08 | 北京百度网讯科技有限公司 | Parking method, parking device, electronic equipment, storage medium and automatic driving automobile |
| CN114063086A (en) * | 2021-11-10 | 2022-02-18 | 安徽江淮汽车集团股份有限公司 | Automatic parking space anti-error release method |
| CN114063086B (en) * | 2021-11-10 | 2024-03-08 | 安徽江淮汽车集团股份有限公司 | Automatic parking space error release preventing method |
| CN115092124A (en) * | 2022-06-27 | 2022-09-23 | 重庆长安汽车股份有限公司 | Autonomous parking assist system, method and storage medium |
| CN114973762A (en) * | 2022-06-30 | 2022-08-30 | 中汽创智科技有限公司 | Parking space management method, device and system |
| CN115593397A (en) * | 2022-11-29 | 2023-01-13 | 小米汽车科技有限公司（Cn） | Vehicle control method, device, storage medium and chip |
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Application publication date: 20190927 |