CN110346804A - Alarm method, device and readable storage medium storing program for executing based on automatic parking auxiliary system - Google Patents
Alarm method, device and readable storage medium storing program for executing based on automatic parking auxiliary system Download PDFInfo
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- CN110346804A CN110346804A CN201910580201.6A CN201910580201A CN110346804A CN 110346804 A CN110346804 A CN 110346804A CN 201910580201 A CN201910580201 A CN 201910580201A CN 110346804 A CN110346804 A CN 110346804A
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- alarm
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- vehicle
- barrier
- coverage
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
- B60Q9/008—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for anti-collision purposes
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
- G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
- G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2015/932—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles for parking operations
Abstract
A kind of alarm method based on automatic parking auxiliary system, device and readable storage medium storing program for executing, automatic parking auxiliary system includes two radar systems before and after being located at vehicle, preceding radar system and rear radar system include two end search coverages and intermediate search coverage, multiple sections are respectively divided into according to the area coverage of the end search coverage point at a distance from vehicle and intermediate search coverage, each section is correspondingly arranged different alarm schemes, alarm scheme includes the image display alarm on audible alarm and vehicle interactive interface, alarm method includes: when getting the enabling signal of automatic parking auxiliary system, the detection of barrier is carried out to search coverage each before and after automobile by front and back radar system；When any one radar system detects barrier, the current session where barrier is determined relative to the position of vehicle according to barrier；The corresponding alarm scheme of current session is inquired, and is alarmed according to the alarm scheme inquired.
Description
Technical field
The present invention relates to automotive fields, more particularly to a kind of alarm method based on automatic parking auxiliary system, device
And readable storage medium storing program for executing.
Background technique
With the continuous development and continuous improvement of people's living standards of automobile industry, automobile has entered huge numbers of families, at
The walking-replacing tool do not seen or lacked for people.With being continuously increased for vehicle, parking stall resource is also increasingly nervous, realizes safely and fast
Park it is also more and more difficult.
With the fast development of intelligent driving, automatic parking auxiliary system (APA), can help car owner realize it is semi-automatic or
Person's automatic parking, greatly facilitates car owner.It is parked by automatic parking auxiliary system, security reliability is that everybody is heavy
Point perpetual object.Existing automatic parking auxiliary system lacks effective people-car interaction warning function, causes driver can not
Concern vehicle body ambient enviroment and adapter tube vehicle in time when emergency case occurs in time, causes unnecessary collision.
Summary of the invention
In view of the above situation, it is necessary to lack effective interaction alarm function for automatic parking auxiliary system in the prior art
Can the problem of, a kind of alarm method based on automatic parking auxiliary system, device and readable storage medium storing program for executing are provided.
A kind of alarm method based on automatic parking auxiliary system, the automatic parking auxiliary system include being located at vehicle
Two radar systems before and after, the radar system includes more UPA radars, and preceding radar system and rear radar system include
Two end search coverages and intermediate search coverage, the end search coverage according at a distance from vehicle point and intermediate detecting area
The area coverage in domain is respectively divided into multiple sections, and each section is correspondingly arranged different alarm schemes, the report
Police's case includes the image display alarm on audible alarm and vehicle interactive interface, and the alarm method includes:
When getting the enabling signal of the automatic parking auxiliary system, by front and back radar system to each before and after automobile
A search coverage carries out the detection of barrier；
When any one radar system detects barrier, the position according to the barrier relative to vehicle determines obstacle
Current session where object；
The corresponding alarm scheme of the current session is inquired, and is alarmed according to the alarm scheme inquired.
Further, above-mentioned alarm method, wherein when determination exists simultaneously barrier to multiple sections, the inquiry
The corresponding alarm scheme of the current session, and the step of being alarmed according to the alarm scheme inquired includes:
The section of highest priority is determined according to preset alarm priority list；
The corresponding alarm scheme of section of the highest priority is inquired, and is reported according to the alarm scheme inquired
It is alert, wherein in the alarm priority list, the coverage area section priority close apart from vehicle is higher than the area remote apart from vehicle
Section, in the section of same coverage area, the corresponding section priority of intermediate search coverage is higher than the corresponding area of end search coverage
Section.
Further, above-mentioned alarm method, wherein further include:
When two radar systems detect barrier, judge that the state of vehicle, the state include advance shape
State and retroversion state；
When vehicle is forward travel state, radar system alarm before controlling；
When vehicle is retroversion state, radar system is alarmed after control.
Further, above-mentioned alarm method, wherein the end search coverage is divided into three sections, coverage area point
Not Wei 0-35cm, 35-60cm and 60-90cm, the intermediate search coverage is divided into 5 sections, respectively 0-35cm, 35-60cm,
60-90cm, 90-120cm and 120-150cm.
Further, above-mentioned alarm method, wherein the corresponding alarm scheme point of three sections of the end search coverage
Not are as follows:
When barrier is when coverage area is 0-35cm section, alarm sound indicates for yowl sound, on vehicle interactive interface
The diagram of the section is filled with red；
When barrier is when coverage area is 35-60cm section, alarm sound 4Hz, instruction should on vehicle interactive interface
The diagram of section is filled with yellow；
When barrier is when coverage area is 60-90cm section, the area is corresponded on alarm sound 2Hz, vehicle interactive interface
The diagram of section is filled with green.
Further, above-mentioned alarm method, wherein the corresponding alarm scheme of five sections of the intermediate search coverage
Are as follows:
When barrier is when coverage area is 0-35cm section, alarm sound is yowl sound, corresponds to and be somebody's turn to do on vehicle interactive interface
The diagram of section is filled with red；
When barrier is when coverage area is 35-60cm section, alarm sound is yowl sound, corresponds to and be somebody's turn to do on vehicle interactive interface
The diagram of section is filled with yellow；
When barrier is when coverage area is 60-90cm section, the area is corresponded on alarm sound 4Hz, vehicle interactive interface
The diagram of section is filled with yellow；
When barrier is when coverage area is 90-120cm section, the area is corresponded on alarm sound 4Hz, vehicle interactive interface
The diagram of section is filled with green；
When barrier is when coverage area is 120-150cm section, corresponding on alarm sound 2Hz, vehicle interactive interface should
The diagram of section is filled with green.
Further, above-mentioned alarm method, further includes:
When the automatic parking auxiliary system prompt tone, front and back radar system alarm sound and media sound at least two
It when occurring simultaneously, is broadcasted according to preset casting priority orders, the casting priority orders are automatic parking auxiliary
System prompt sound priority is higher than alarm sound, and alarm sound priority is higher than media sound.
Further, above-mentioned alarm method, wherein after the step of alarm scheme that the basis inquires is alarmed
Further include:
When detecting the barrier far from vehicle, cancel alarm.
Another aspect of the present invention additionally provides a kind of warning device based on automatic parking auxiliary system, the automatic pool
Vehicle auxiliary system includes two radar systems before and after being located at vehicle, and the radar system includes more UPA radars, preceding thunder
It include two end search coverages and intermediate search coverage up to system and rear radar system, it is described according at a distance from vehicle
The area coverage of end search coverage point and intermediate search coverage is respectively divided into multiple sections, and each section is corresponding
Different alarm schemes is set, and the alarm scheme includes the image display alarm on audible alarm and vehicle interactive interface, institute
Stating warning device includes:
Detecting module, for passing through front and back radar system when getting the enabling signal of the automatic parking auxiliary system
It unites and carries out the detection of barrier to search coverage each before and after automobile；
Determining module, for when any one radar system detects barrier, according to the barrier relative to vehicle
Position determine the current session where barrier；
Alarm module, for inquiring the corresponding alarm scheme of the current session, and according to the alarm scheme inquired into
Row alarm.
Another aspect of the present invention additionally provides a kind of readable storage medium storing program for executing, is stored thereon with program, and described program is located
Reason device realizes any of the above-described method when executing.
In the present invention based on automatic parking auxiliary system alarm method, according to the direction of front and back radar system overlay area
Radar detection area before and after vehicle is divided into multiple segmentations with distance.During automatic parking, determine what barrier occurred
Section, and trigger the corresponding alarm scheme of the section and alarm.To be reminded by the sectional of image and sound, informs and drive
The range information of member's vehicle body peripheral obstacle, avoids vehicle from colliding, functional safety is reliable.
Detailed description of the invention
Fig. 1 is the flow chart of the alarm method based on automatic parking auxiliary system in first embodiment of the invention；
Fig. 2 is the flow chart of the alarm method based on automatic parking auxiliary system in second embodiment of the invention；
Fig. 3 is the flow chart of the alarm method based on automatic parking auxiliary system in third embodiment of the invention；
Fig. 4 is the structural block diagram of the warning device based on automatic parking auxiliary system in fourth embodiment of the invention.
Specific embodiment
The embodiment of the present invention is described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning to end
Same or similar label indicates same or similar element or element with the same or similar functions.Below with reference to attached
The embodiment of figure description is exemplary, and for explaining only the invention, and is not considered as limiting the invention.
Referring to following description and drawings, it will be clear that these and other aspects of the embodiment of the present invention.In these descriptions
In attached drawing, some particular implementations in the embodiment of the present invention are specifically disclosed, to indicate to implement implementation of the invention
Some modes of the principle of example, but it is to be understood that the scope of embodiments of the invention is not limited.On the contrary, of the invention
Embodiment includes all changes, modification and the equivalent fallen within the scope of the spirit and intension of attached claims.
The embodiment of the invention provides a kind of alarm method based on automatic parking auxiliary system, automatic parking auxiliary systems
System (APA) includes two radar systems before and after being located at vehicle.Each radar system includes more UPA radars, specifically,
In the present embodiment, preceding radar system includes 4 UPA radars being arranged in vehicle front bumper, and rear radar system includes setting
Four UPA radars on vehicle rear bumper.The UPA radar is ultrasonic radar, for detecting barrier.According to detecting area
The direction in domain is different, and preceding radar system and rear radar system are divided into three search coverages, comprising: two end search coverages,
For detecting the region of vehicle two sides；One intermediate search coverage, for detecting the region of right ahead or dead astern.
Also, according to the distance with vehicle, by the search coverage coverage area of preceding radar system and rear radar system
Multiple sections are respectively divided into, each section is correspondingly arranged different alarm schemes, which includes audible alarm and vehicle
Image on interactive interface shows alarm.The interactive interface can be the display interface for the MP5 being arranged on vehicle.
The request of corresponding alarm scheme is sent to by the obstacle distance information that APA host is detected according to ultrasonic radar
MP5.MP5 mainly show situation under body peripheral obstacle information of parking to provide alarm sound, meanwhile, also in the process of parking
The information such as middle display parking guidance text and fault cues.Driver is prompted with different alarm schemes, facilitates driver
Understand the urgency level for obstacle situation occur, and treat with a certain discrimination, it is high-efficient to improve alarm.It should be understood that when vehicle exits certainly
It is dynamic when parking, UPA radar system stop alarm.
Referring to Fig. 1, for the alarm method based on automatic parking auxiliary system in first embodiment of the invention, including step
Rapid S11~S13.
Step S11, when getting the enabling signal of the automatic parking auxiliary system, by front and back radar system to vapour
Each search coverage carries out the detection of barrier after Chinese herbaceous peony.
In the starting of automatic parking auxiliary system, can start front and back radar system to the automobile each search coverage in front and back into
Row obstacle detection.The starting of the automatic parking auxiliary system of vehicle can be switched by the APA of setting and be realized, APA host obtains
To park enabling signal while start preceding radar system and rear radar system.
It is understood that in embodiments of the present invention, can be switched by setting UPA and front and back radar system is switched
Control.When UPA switch open when can automatic parking auxiliary system start when before and after radar system work.When UPA is switched
When closing, regardless of whether automatic parking auxiliary system starts, front and back radar system does not work.
Step S12, when any one radar system detects barrier, according to the barrier relative to vehicle
Position determines the current session where barrier.
Wherein, the position where barrier can be according to the search coverage where barrier and its at a distance from vehicle come really
It is fixed.That is, can determine barrier place according to corresponding UPA radar coverage when a certain radar system detects barrier
Search coverage, then determine that the barrier at a distance from vehicle, and determines the section where it according to this distance.
In the present embodiment, end search coverage can for example be divided into three sections, coverage area be respectively 0-35cm,
35-60cm and 60-90cm, intermediate search coverage can be divided into 5 sections, respectively 0-35cm, 35-60cm, 60-90cm, 90-
120cm and 120-150cm.It is understood that the coverage area of each region can be also configured according to actual needs.
Step S13 inquires the corresponding alarm scheme of the current session, and is reported according to the alarm scheme inquired
It is alert.
Each section corresponds to a kind of alarm scheme, which includes that sound includes and image display alarm.The sound
Alarm such as audio is the alarm sound of yowl, 4Hz and 2Hz.Image display alarm, i.e., carry out image by vehicle interactive interface
It has been shown that, to prompt section where barrier.The diagram of corresponding each section, a certain section are preset on the interactive interface of vehicle
It was found that being highlighted when barrier to the corresponding diagram of the section.
The alarm scheme can be configured as needed, for example, the corresponding alarm side of three sections of end search coverage
Case are as follows:
When barrier is when coverage area is 0-35cm section, alarm sound is yowl sound, corresponds to and be somebody's turn to do on vehicle interactive interface
The diagram of section is filled with red；
When barrier is when coverage area is 35-60cm section, the area is corresponded on alarm sound 4Hz, vehicle interactive interface
The diagram of section is filled with yellow；
When barrier is when coverage area is 60-90cm section, the area is corresponded on alarm sound 2Hz, vehicle interactive interface
The diagram of section is filled with green.
The corresponding alarm scheme of five sections of intermediate search coverage are as follows:
When barrier is when coverage area is 0-35cm section, alarm sound is yowl sound, corresponds to and be somebody's turn to do on vehicle interactive interface
The diagram of section is filled with red；
When barrier is when coverage area is 35-60cm section, alarm sound is yowl sound, corresponds to and be somebody's turn to do on vehicle interactive interface
The diagram of section is filled with yellow；
When barrier is when coverage area is 60-90cm section, the area is corresponded on alarm sound 4Hz, vehicle interactive interface
The diagram of section is filled with yellow；
When barrier is when coverage area is 90-120cm section, the area is corresponded on alarm sound 4Hz, vehicle interactive interface
The diagram of section is filled with green；
When barrier is when coverage area is 120-150cm section, corresponding on alarm sound 2Hz, vehicle interactive interface should
The diagram of section is filled with green.
For example, the intermediate search coverage of current radar system detects barrier, and when it is apart from vehicle 10cm, really
Sector coverage where the fixed barrier is 0-35cm, then alarm sound is yowl sound, corresponds to the area on vehicle interactive interface
The diagram of section is filled with red.
In embodiment based on automatic parking auxiliary system alarm method, according to the direction of front and back radar system overlay area
Radar detection area before and after vehicle is divided into multiple segmentations with distance.During automatic parking, determine what barrier occurred
Section, and trigger the corresponding alarm scheme of the section and alarm.To be reminded by the sectional of image and sound, informs and drive
The range information of member's vehicle body peripheral obstacle, avoids vehicle from colliding, functional safety is reliable.
Referring to Fig. 2, for the alarm method based on automatic parking auxiliary system in second embodiment of the invention, including step
Rapid S21~S26.
Step S21, when getting the enabling signal of the automatic parking auxiliary system, by front and back radar system to vapour
Each search coverage carries out the detection of barrier after Chinese herbaceous peony.
Step S22, when any one radar system detects barrier, according to the barrier relative to vehicle
Position determines the section where barrier.
Step S23 is determined when determination exists simultaneously barrier to multiple sections according to preset alarm priority list
The section of highest priority.
Step S24 inquires the corresponding alarm scheme of section of the highest priority, and according to the alarm scheme inquired
It alarms.Wherein, in the alarm priority list, the coverage area section priority close apart from vehicle is higher than apart from vehicle
Remote section, in same coverage area, the corresponding section priority of intermediate search coverage is higher than the corresponding area of end search coverage
Section.
It should be understood that when vehicle periphery many places are there are when barrier, radar system can according to the position where barrier,
Determine barrier in multiple sections.At this point, can the alarm scheme according to corresponding to the section of section highest priority alarm.
Priority is higher to illustrate that degree of danger is bigger, in general vehicle parking when, the dangerous journey that moves forward and backward on the region of direction
Degree is greater than the degree of danger of two side areas, and obstacle distance vehicle is closer, and degree of danger is bigger.
In the present embodiment, end search coverage is divided into three sections, coverage area be respectively 0-35cm, 35-60cm and
60-90cm, intermediate search coverage are divided into 5 sections, respectively 0-35cm, 35-60cm, 60-90cm, 90-120cm and 120-
150cm.Section priority orders in the alarm priority list are as follows:
The area that the section that intermediate search coverage, coverage area are 0-35cm > end search coverage, coverage area are 0-35cm
The section that section > end search coverage that section > intermediate search coverage, coverage area are 35-60cm, coverage area are 35-60cm >
The section that the section that intermediate search coverage, coverage area are 60-90cm > end search coverage, coverage area are 60-90cm > in
Between search coverage, coverage area be 90-120cm section > end search coverage, coverage area be 90-120cm section > in
Between search coverage, coverage area be 120-150cm section > end search coverage, coverage area be 120-150cm section.
Step S25 cancels alarm after vehicle remain stationary preset time.
The preset time can be configured as needed, such as be set as 3s, i.e., when discovery barrier is alarmed, vehicle
Stopping is parked, and is cancelled the alarm of radar system after static 3s, is avoided unnecessary sound interference.
Step S26 cancels alarm when detecting the barrier far from vehicle.
APA host system can detect the variation of the distance of barrier according to radar system to determine barrier close to still
It is separate.When the distance for detecting obstacle distance vehicle is gradually increased, it is determined that barrier then cancels radar system far from vehicle
The alarm of system avoids extra alarm that driver is caused to perplex.
Referring to Fig. 3, the alarm method further includes step S31~S33 in the third embodiment of the present invention:
Step S31 judges the state of vehicle, the state packet when two radar systems detect barrier
Include forward travel state and retroversion state；
Step S32, when vehicle is forward travel state, radar system alarm before controlling；
Step S33, when vehicle is retroversion state, radar system is alarmed after control.
The state of vehicle can be determined according to gear information, such as gear is determined as retroversion state at reverse gear shift (R gear)；
When at forward gear (D gear), to determine that vehicle is forward travel state.When former and later two radar systems detect barrier, then
According to the state of vehicle, determine that corresponding radar system is alarmed, specific type of alarm and first or second embodiments
In it is essentially identical, it will not go into details herein.
Specifically, the present embodiment will distinguish front and back radar system alarm sound direction to MP5, after MP5 receives signal
Carry out audible alarm and the image display alarm of correspondence system.
Further, the alarm method in another embodiment of the invention, further comprises the steps of:
At least two in the automatic parking auxiliary system prompt tone, the alarm sound of front and back radar system, media sound
It when occurring simultaneously, is broadcasted according to preset casting priority orders, the casting priority orders are automatic parking auxiliary
System prompt sound priority is higher than alarm sound, and alarm sound priority is higher than media sound.
In the embodiment of the present invention, APA system include four sources of sound: preceding radar system alarm sound, rear radar system alarm sound,
APA prompt tone and media sound.Wherein, APA prompt tone highest priority, followed by preceding radar system alarm sound and rear radar system
Alarm sound, most end are media sounds.Preceding radar system alarm sound is identical with the priority of rear radar system alarm sound.
When APA prompt tone and radar system alarm sound need to occur simultaneously, APA prompt tone is first reported, then radar
Sound is reported again.Radar system alarm sound is switched to APA prompt tone and APA prompt tone is switched to radar alarm sound separated in time.
It should be understood that in other embodiments of the invention, in the process parked, also media sound can be carried out at flat
Reason, during guarantee is parked, APA prompt tone is not interfered by other prompt tones.The media sound includes but is not limited to that audio, video are broadcast
Soften the sound of part.Also, APA can be prompted source of sound setting be different from radar alarm source of sound and other media sources of sound, driver
APA prompt tone can be differentiated easily.
Please referring to Fig. 4 is the warning device based on automatic parking auxiliary system in fourth embodiment of the invention, described automatic
Parking assisting system includes two radar systems before and after being located at vehicle, and the radar system includes more UPA radars, preceding
Radar system and rear radar system include two end search coverages and intermediate search coverage, according at a distance from vehicle, institute
The area coverage for stating end search coverage point and intermediate search coverage is respectively divided into multiple sections, each section pair
Different alarm schemes should be set, the alarm scheme includes the image display alarm on audible alarm and vehicle interactive interface,
The warning device includes:
Detecting module 10, for passing through front and back radar when getting the enabling signal of the automatic parking auxiliary system
System carries out the detection of barrier to search coverage each before and after automobile；
Determining module 20, for when any one radar system detects barrier, according to the barrier relative to vehicle
Position determine the current session where barrier；
Alarm module 30, for inquiring the corresponding alarm scheme of the current session, and according to the alarm scheme inquired
It alarms.
Carry out technical effect and the preceding method reality of warning device, realization principle and generation provided by the embodiment of the present invention
It is identical to apply example, to briefly describe, Installation practice part does not refer to place, can refer to corresponding contents in preceding method embodiment.
The present invention also proposes a kind of readable storage medium storing program for executing, is stored thereon with computer program, which is executed by processor
Shi Shixian above-mentioned alarm method.
Expression or logic and/or step described otherwise above herein in flow charts, for example, being considered use
In the order list for the executable instruction for realizing logic function, may be embodied in any computer-readable medium, for
Instruction execution system, device or equipment (such as computer based system, including the system of processor or other can be held from instruction
The instruction fetch of row system, device or equipment and the system executed instruction) it uses, or combine these instruction execution systems, device or set
It is standby and use.For the purpose of this specification, " computer-readable medium ", which can be, any may include, stores, communicates, propagates or pass
Defeated program is for instruction execution system, device or equipment or the dress used in conjunction with these instruction execution systems, device or equipment
It sets.
The more specific example (non-exhaustive list) of computer-readable medium include the following: there are one or more wirings
Electrical connection section (electronic device), portable computer diskette box (magnetic device), random access memory (RAM), read-only memory
(ROM), erasable edit read-only storage (EPROM or flash memory), fiber device and portable optic disk is read-only deposits
Reservoir (CDROM).In addition, computer-readable medium can even is that the paper that can print described program on it or other are suitable
Medium, because can then be edited, be interpreted or when necessary with it for example by carrying out optical scanner to paper or other media
His suitable method is handled electronically to obtain described program, is then stored in computer storage.
It should be appreciated that each section of the invention can be realized with hardware, software, firmware or their combination.Above-mentioned
In embodiment, software that multiple steps or method can be executed in memory and by suitable instruction execution system with storage
Or firmware is realized.It, and in another embodiment, can be under well known in the art for example, if realized with hardware
Any one of column technology or their combination are realized: having a logic gates for realizing logic function to data-signal
Discrete logic, with suitable combinational logic gate circuit specific integrated circuit, programmable gate array (PGA), scene
Programmable gate array (FPGA) etc..
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or spy described in conjunction with this embodiment or example
Point is included at least one embodiment or example of the invention.In the present specification, schematic expression of the above terms are not
Centainly refer to identical embodiment or example.Moreover, particular features, structures, materials, or characteristics described can be any
One or more embodiment or examples in can be combined in any suitable manner.
The embodiments described above only express several embodiments of the present invention, and the description thereof is more specific and detailed, but simultaneously
Limitations on the scope of the patent of the present invention therefore cannot be interpreted as.It should be pointed out that for those of ordinary skill in the art
For, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to guarantor of the invention
Protect range.Therefore, the scope of protection of the patent of the invention shall be subject to the appended claims.
Claims (10)
1. a kind of alarm method based on automatic parking auxiliary system, the automatic parking auxiliary system includes being located at vehicle
Two radar systems of front and back, the radar system include more UPA radars, which is characterized in that preceding radar system and rear radar
System includes two end search coverages and intermediate search coverage, the end search coverage according at a distance from vehicle point and
The area coverage of intermediate search coverage is respectively divided into multiple sections, and each section is correspondingly arranged different alarm sides
Case, the alarm scheme include the image display alarm on audible alarm and vehicle interactive interface, and the alarm method includes:
When getting the enabling signal of the automatic parking auxiliary system, by front and back radar system to spy each before and after automobile
Survey the detection that region carries out barrier；
When any one radar system detects barrier, the obstacle is determined relative to the position of vehicle according to the barrier
Current session where object；
The corresponding alarm scheme of the current session is inquired, and is alarmed according to the alarm scheme inquired.
2. alarm method as described in claim 1, which is characterized in that when determination exists simultaneously barrier to multiple sections,
It is described to inquire the corresponding alarm scheme of the current session, and the step of being alarmed according to the alarm scheme inquired includes:
The section of highest priority is determined according to preset alarm priority list；
The corresponding alarm scheme of section of the highest priority is inquired, and is alarmed according to the alarm scheme inquired,
In, in the alarm priority list, the coverage area section priority close apart from vehicle is higher than the section remote apart from vehicle, together
In the section of one coverage area, the corresponding section priority of intermediate search coverage is higher than the corresponding section of end search coverage.
3. alarm method as described in claim 1, which is characterized in that the method also includes:
When two radar systems detect barrier, judge the state of vehicle, the state include forward travel state and
Retroversion state；
When vehicle is forward travel state, radar system alarm before controlling；
When vehicle is retroversion state, radar system is alarmed after control.
4. alarm method as described in claim 1, which is characterized in that the end search coverage is divided into three sections, covers
Lid range is respectively 0-35cm, 35-60cm and 60-90cm, and the intermediate search coverage is divided into 5 sections, respectively 0-35cm,
35-60cm, 60-90cm, 90-120cm and 120-150cm.
5. alarm method as claimed in claim 4, which is characterized in that the corresponding report of three sections of the end search coverage
Police's case is respectively as follows:
When barrier is when coverage area is 0-35cm section, alarm sound is yowl sound, indicates the area on vehicle interactive interface
The diagram of section is filled with red；
When barrier coverage area be 35-60cm section when, the section alarm sound 4Hz, is indicated on vehicle interactive interface
Diagram be filled with yellow；
When barrier is when coverage area is 60-90cm section, the section is corresponded on alarm sound 2Hz, vehicle interactive interface
Diagram is filled with green.
6. alarm method as claimed in claim 4, which is characterized in that the corresponding report of five sections of the intermediate search coverage
Police's case are as follows:
When barrier is when coverage area is 0-35cm section, alarm sound is yowl sound, corresponds to the section on vehicle interactive interface
Diagram be filled with red；
When barrier is when coverage area is 35-60cm section, alarm sound is yowl sound, corresponds to the section on vehicle interactive interface
Diagram be filled with yellow；
When barrier is when coverage area is 60-90cm section, the section is corresponded on alarm sound 4Hz, vehicle interactive interface
Diagram is filled with yellow；
When barrier is when coverage area is 90-120cm section, the section is corresponded on alarm sound 4Hz, vehicle interactive interface
Diagram is filled with green；
When barrier is when coverage area is 120-150cm section, the section is corresponded on alarm sound 2Hz, vehicle interactive interface
Diagram be filled with green.
7. alarm method as described in claim 1, which is characterized in that further include:
When the automatic parking auxiliary system prompt tone, front and back radar system alarm sound and media sound at least two simultaneously
It when appearance, is broadcasted according to preset casting priority orders, the casting priority orders are automatic parking auxiliary system
Prompt tone priority is higher than alarm sound, and alarm sound priority is higher than media sound.
8. alarm method as described in claim 1, which is characterized in that the alarm scheme that the basis inquires was alarmed
After step further include:
When detecting the barrier far from vehicle, cancel alarm.
9. a kind of warning device based on automatic parking auxiliary system, the automatic parking auxiliary system includes being located at vehicle
Two radar systems of front and back, the radar system include more UPA radars, which is characterized in that preceding radar system and rear radar
System includes two end search coverages and intermediate search coverage, and according at a distance from vehicle, the end search coverage is divided
Multiple sections are respectively divided into the area coverage of intermediate search coverage, each section is correspondingly arranged different alarms
Scheme, the alarm scheme include the image display alarm on audible alarm and vehicle interactive interface, and the warning device includes:
Detecting module, for passing through front and back radar system pair when getting the enabling signal of the automatic parking auxiliary system
Each search coverage carries out the detection of barrier before and after automobile；
Determining module, for the position when any one radar system detects barrier, according to the barrier relative to vehicle
Set the current session determined where the barrier；
Alarm module is reported for inquiring the corresponding alarm scheme of the current session, and according to the alarm scheme inquired
It is alert.
10. a kind of readable storage medium storing program for executing, is stored thereon with program, which is characterized in that realization when described program is executed by processor
Method a method as claimed in any one of claims 1-8.
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