CN110466507A - A method of auxiliary is parked - Google Patents
A method of auxiliary is parked Download PDFInfo
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- CN110466507A CN110466507A CN201910756288.8A CN201910756288A CN110466507A CN 110466507 A CN110466507 A CN 110466507A CN 201910756288 A CN201910756288 A CN 201910756288A CN 110466507 A CN110466507 A CN 110466507A
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- 238000000034 method Methods 0.000 title claims abstract description 49
- 230000001939 inductive effect Effects 0.000 claims abstract description 51
- 230000004888 barrier function Effects 0.000 claims abstract description 25
- 238000012545 processing Methods 0.000 claims abstract description 22
- 230000005540 biological transmission Effects 0.000 claims abstract description 11
- 230000006855 networking Effects 0.000 claims description 85
- 230000006870 function Effects 0.000 claims description 29
- 238000012546 transfer Methods 0.000 claims description 10
- 230000004913 activation Effects 0.000 claims description 9
- 230000008569 process Effects 0.000 claims description 7
- 230000006698 induction Effects 0.000 claims description 4
- 230000008859 change Effects 0.000 claims 1
- 238000001514 detection method Methods 0.000 description 9
- 230000003213 activating effect Effects 0.000 description 4
- 238000004891 communication Methods 0.000 description 4
- 238000005265 energy consumption Methods 0.000 description 3
- 230000000007 visual effect Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 230000010365 information processing Effects 0.000 description 2
- 230000003993 interaction Effects 0.000 description 2
- 230000015572 biosynthetic process Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 208000010877 cognitive disease Diseases 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- ZZUFCTLCJUWOSV-UHFFFAOYSA-N furosemide Chemical compound C1=C(Cl)C(S(=O)(=O)N)=CC(C(O)=O)=C1NCC1=CC=CO1 ZZUFCTLCJUWOSV-UHFFFAOYSA-N 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
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- 230000032258 transport Effects 0.000 description 1
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/20—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of display used
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/30—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing
- B60R2300/301—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing combining image information with other obstacle sensor information, e.g. using RADAR/LIDAR/SONAR sensors for estimating risk of collision
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/80—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement
- B60R2300/806—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement for aiding parking
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Multimedia (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Traffic Control Systems (AREA)
Abstract
The present invention provides the methods that auxiliary is parked, comprising: receives instruction of parking, wakes up park function and the ancillary equipment of vehicle；Receive the picture signal and radar inductive signal of the ancillary equipment transmission, to picture signal and the processing of radar inductive signal to form displayable panoramic picture and radar Dynamic Graph, and prompting message of parking is issued according to described image signal and/or the radar inductive signal；The displayable panoramic picture or radar Dynamic Graph are sent to the key terminal and/or vehicle-carrying display screen is shown；Switching command or the corresponding signal source of prompting message of parking control the panoramic picture and the radar Dynamic Graph and show in the key terminal and/or vehicle-carrying display screen switching based on the received；The present embodiment intuitively understands the barrier Azimuth & Range of vehicle-surroundings convenient for operator or user, avoids during remote control is parked because there are vision dead zone bring risks for itself present position.
Description
Technical field
This specification is related to technical field of automobile control more particularly to a kind of method for assisting parking.
Background technique
The automobile for function of parking is remotely controlled configured with intelligent driving, auxiliary currently on the market, there are two types of control models for general tool:
The first controls vehicle for cell phone application and realizes that remote control is parked, the APP software and control mould which is downloaded by mobile phone terminal
Block carries out information exchange, and control module issues the communication information by backstage and electrical control command realizes that vehicle forward-reverse turns to
Equal controls operation.
Vehicle being controlled for intelligent remote control key, smartwatch etc. and realizes that remote control is parked for second, wherein remote-control key is more
It is common.Which carries out information exchange by remote-control key and control module, and the communication by radiofrequency signal or bluetooth module is defeated
Electrical control command realizes the controls operation such as vehicle forward-reverse steering out.
But it is remotely controlled the Intelligent key parked at present and cell phone application remote control function of parking only passes through several control keys and realizes,
Operator's observation is needed to judge vehicle-surroundings ambient condition in use process, operator but can not intuitively recognize that vehicle is all
The information on side, while operator can not preferably be parked prompting message, be not easy to user's remote control and parked.
Summary of the invention
This specification provides a kind of method for assisting parking, to solve deficiency in the related technology.
According to this specification embodiment in a first aspect, provide it is a kind of assist the method parked, be applied to vehicle end, it is described
Method includes:
Reception is parked instruction, and park function and the ancillary equipment of vehicle are waken up；
The picture signal and radar inductive signal for receiving the ancillary equipment transmission, to picture signal and radar inductive signal
Processing is believed with forming displayable panoramic picture and radar Dynamic Graph according to described image signal and/or radar induction
It number issues and to park prompting message；
The displayable panoramic picture or radar Dynamic Graph are sent to key terminal and/or vehicle-carrying display screen is shown；
Switching command or the corresponding signal source of prompting message of parking control the panoramic picture based on the received and the radar is dynamic
State figure is in the key terminal and/or vehicle-carrying display screen switching display.
Further, the ancillary equipment includes radar and photographing module, described according to described image signal and/or described
Radar inductive signal issues prompting message of parking, comprising:
If barrier is in radar shadown, judge that vehicle boundary issues pool at a distance from obstacles borders according to the panoramic picture
Vehicle prompting message；Or
If according to described image signal and the capable of emitting prompting message of parking of the radar inductive signal, according to the radar sense
Induction signal issues prompting message of parking.
Further, the basis corresponding signal source of prompting message of parking controls the panoramic picture and the radar is dynamic
State figure is in the key terminal and/or vehicle-carrying display screen switching display, comprising:
If the corresponding signal source of the prompting message of parking is picture signal, the key terminal and/or vehicle-carrying display screen are controlled
Show the panoramic picture；
If the corresponding signal source of the prompting message of parking is radar inductive signal, the key terminal and/or vehicle-mounted aobvious is controlled
Display screen shows the radar Dynamic Graph.
Further, the prompting message of parking that issues includes:
The sound prompting that control buzzer is responded with different frequency,
And/or the control instruction information with azimuth information, the control instruction information is for controlling the vibration of key terminal.
Further, the method also includes: when the key terminal and/or vehicle-carrying display screen show panoramic picture,
The visual angle in the panoramic picture of the corresponding operational order is sent to the key terminal and/or vehicle-carrying display screen according to operational order
Image.
According to the second aspect of this specification embodiment, a kind of method for assisting parking is provided, key terminal, institute are applied to
Key terminal is stated with screen display module, which comprises
It wakes up screen display module and establishes WIFI with In-vehicle networking module and connect,；
Panoramic picture or radar Dynamic Graph are received, and shows panoramic picture or radar Dynamic Graph, shows that panoramic picture or radar are dynamic
State figure is controlled by the corresponding signal source of received prompting message of parking；Or
The solicited message that request switching display content is issued according to operational order, shows the panoramic picture or radar Dynamic Graph；
Wherein, the panoramic picture or radar Dynamic Graph are obtained by the key terminal processes, or are received and obtained by key terminal.
Further, the solicited message that request switching display content is issued according to operational order, comprising:
Request switching display panoramic picture or radar Dynamic Graph are issued according to operational order；And/or
The certain viewing angles image in the request switching display panoramic picture is issued according to operational order.
It is further, described to assist method of parking further include:
Reception is parked prompting message, control key terminal vibration；And/or
If the prompting message of parking is with azimuth information, control key terminal corresponds to the position vibrating of the azimuth information.
According to the third aspect of this specification embodiment, a kind of method for assisting parking is provided, which comprises
Key terminal is sent to In-vehicle networking module is remotely controlled function activation request of parking, the In-vehicle networking data bits vehicle
Function of parking and ancillary equipment；
The In-vehicle networking module or key terminal receive the picture signal and radar inductive signal of the ancillary equipment transmission,
To picture signal and the processing of radar inductive signal to form displayable panoramic picture and radar Dynamic Graph, and according to the figure
As signal and/or the radar inductive signal issue prompting message of parking；Wherein, the displayable panoramic picture or radar are dynamic
State figure is for being shown in the key terminal and/or vehicle-carrying display screen；
The key terminal shows panoramic picture or radar Dynamic Graph；The key terminal has screen display module, operates the screen
The panoramic picture and radar Dynamic Graph can be switched in aobvious module；
The key terminal is parked and is shaken after prompting message described in receiving.
According to the fourth aspect of this specification embodiment, a kind of method for assisting parking is provided, comprising:
The key terminal connects In-vehicle networking module by the WIFI module, and sends signal of parking to controller of parking,
Wherein the key terminal further includes WIFI module and screen display module；
360 panorama functions of the In-vehicle networking module activation vehicle and function of parking, it is complete that the In-vehicle networking module obtains 360
Scape image and by In-vehicle networking module transfer to the key terminal, and shown in key terminal；
For the controller of parking to the In-vehicle networking module transfer radar inductive signal, the In-vehicle networking module will handle thunder
The radar Dynamic Graph formed up to inductive signal is transmitted to the key terminal and shows；Or the key terminal obtains and handles vehicle
The radar inductive signal of support grid network module transfer forms radar Dynamic Graph；
Operating the screen display module can be switched 360 panoramic picture and the radar Dynamic Graph, and realize control of parking；
When there are barrier, the key terminal issues vibration reminding.
The embodiment method that this specification provides is formed displayable complete by picture signal and radar inductive signal
Scape image and radar Dynamic Graph, the barrier Azimuth & Range of vehicle-surroundings is intuitively understood convenient for operator or user, is avoided
Because there are vision dead zone bring risks for itself present position during remote control is parked.
In addition it can remind operator or user by way of control key terminal vibration, it is more convenient that family can be used
Remote control park.
Detailed description of the invention
In order to illustrate the technical solution of the embodiments of the present invention more clearly, required use in being described below to embodiment
Attached drawing be briefly described, it should be apparent that, drawings in the following description are only some embodiments of the invention, for this
For the those of ordinary skill of field, without creative efforts, it can also be obtained according to these attached drawings others
Attached drawing.
Fig. 1 is In-vehicle networking module and key in method that a kind of auxiliary shown in one exemplary embodiment of this specification is parked
The flow chart of spoon terminal interaction.
Fig. 2 is that a kind of auxiliary applied to In-vehicle networking module shown in one exemplary embodiment of this specification is parked method
Flow chart.
Fig. 3 is that a kind of auxiliary for key terminal shown in one exemplary embodiment of this specification is parked the process of method
Figure.
Specific embodiment
It is only to be not intended to be limiting this explanation merely for for the purpose of describing particular embodiments in the term that this specification uses
Book.Term "and/or" used in this specification refers to and includes one or more associated to list any of project or institute
It is possible that combining.
The method that the auxiliary that this specification provides is parked is applied to vehicle end and key terminal.Wherein vehicle end includes vehicle
Carry network module, on-vehicle host etc., and In-vehicle networking module can integrate it is total in vehicle mounted multimedia host, T-BOX or gateway etc.
Cheng Shang, or be independent In-vehicle networking module.For example, in one embodiment, In-vehicle networking module is integrated in vehicle-mounted more matchmakers
On body host, WIFI module is configured in key terminal, the key terminal and In-vehicle networking module pass through In-vehicle networking module shape
It is connected at WIFI network.This specification key terminal as described in the examples refers to the terminal device with function of key, such as
Intelligent vehicle key (the vehicle control key of such as 7 system of BMW), mobile terminal (being such as mounted with the mobile phone of vehicle control APP), wearable device are (such as
It is mounted with the smartwatch of vehicle control APP) etc.；The key terminal includes activating park key and screen display module.
Remote control is parked by image recognition in the embodiment of this specification, that no visual angle may be implemented in radar auxiliary prompting is blind
Area.Can be there are two types of mode by image recognition, radar auxiliary prompting: a kind of mode, image procossing and Radar Signal Processing exist
Key terminal and in vehicle (such as In-vehicle networking module is integrated in vehicle mounted multimedia host) execute；Another way is image
Processing and Radar Signal Processing are executed in key terminal, can save the energy consumption of onboard system.The key terminal has screen display mould
Block, operating the screen display module can be switched the panoramic picture and radar Dynamic Graph；The capable of emitting vibration reminding of key terminal.
In vehicle end, the processing of image and radar signal is in vehicle end by vehicle mounted multimedia host process.Especially by following specific real
Apply example explanation.
Fig. 1 is that a kind of auxiliary shown in one exemplary embodiment of this specification is parked In-vehicle networking module and key in method
The flow chart of terminal interaction.Referring to Fig.1, in the embodiment shown in fig. 1, the processing of image procossing and radar signal is by vehicle end
Vehicle mounted multimedia host executes.Specifically includes the following steps:
S101: key terminal issues request of parking；The request of parking is transmitted to In-vehicle networking module.
For example, activation key P is provided in key terminal, and after operator presses activation key P, configuration in key terminal
WIFI module be waken up, and pass through network connection with In-vehicle networking module.In-vehicle networking data bits are parked ancillary equipment.
S102: In-vehicle networking module obtains picture signal and radar inductive signal；Key terminal and In-vehicle networking module two
After person's connection, key terminal requests In-vehicle networking data bits to be parked function, and the In-vehicle networking module control such as 360 is complete
The ancillary equipments work such as vehicle-mounted parking ancillary equipment of scape photographing module, each radar module, realization vehicle parking.In-vehicle networking mould
Block receives the information of ancillary equipment transmission, including picture signal and radar inductive signal, control feedback signal etc..
S103: the In-vehicle networking module and vehicle mounted multimedia host receive the picture signal of the ancillary equipment transmission with
And radar inductive signal, to picture signal and the processing of radar inductive signal to form displayable panoramic picture and radar dynamic
Figure, is sent to the key terminal for described image signal or the radar inductive signal and/or vehicle-carrying display screen is shown.
The In-vehicle networking module gets the picture signal of 360 panoramic shooting module transfers, through vehicle mounted multimedia host
Panoramic picture is formed after internal processor processing.The In-vehicle networking module gets radar inductive signal, through vehicle mounted multimedia
Host internal processor handled after with the dynamic radar Dynamic Graph in dot chart forming position section.It parks being remotely controlled
When, since most cases operator is located at outside vehicle, In-vehicle networking module can be by panoramic picture or radar Dynamic Graph only
It is sent to key terminal (key terminal have screen display module) remote control can be met and park demand.Certainly, In-vehicle networking module
The panoramic picture or thunder can be sent to the display screen (vehicle mounted multimedia display or instrument display) and key terminal of vehicle
Up to Dynamic Graph (passing through vehicle bus).Since one of panoramic picture or radar Dynamic Graph can meet the demand of parking.But such as
There is specific demand, In-vehicle networking module can also send simultaneously panoramic picture and display screen from radar dynamic to vehicle and key terminal
Figure.So the display screen of vehicle, key terminal then show display panoramic picture and radar Dynamic Graph simultaneously by the way of split screen.
The display of key terminal is mainly described in the present embodiment.Wherein, In-vehicle networking module shows panoramic picture by vehicle-carrying display screen
Or radar Dynamic Graph, In-vehicle networking module send panoramic picture or radar Dynamic Graph to key terminal by network.
S104: the key terminal receives the In-vehicle networking module and sends panoramic picture or radar Dynamic Graph, and shows.
S105: key terminal is parked control instruction to the transmission of In-vehicle networking module, is parked auxiliary by waking up remote-control vehicular
Equipment realization is parked.
Parking for vehicle is realized that the equipment can pass through vehicle bus control by In-vehicle networking module by vehicle-mounted parking ancillary equipment
System.
Key terminal is equipped with control button, and such as upper and lower, left and right key, which can be physical button and be also possible to
Virtual key.In one embodiment, panoramic picture or radar are partially shown in the screen display module (i.e. display screen) of key terminal
The lower section of Dynamic Graph, figure then shows virtual key.It four builds up and down and respectively corresponds advance, retrogressing, left steering, right turn, often
The corresponding one or more control instructions of a key；Wherein left steering may include advance left steering and retrogressing left steering, right turn
Including advance right turn and retreat right turn.Certainly, key also can be set into discoid, the steering wheel of corresponding vehicle, disk
Each work angle correspond to the angle of parking of vehicle.
S106: In-vehicle networking module responds the control instruction of parking that key terminal is sent, and control vehicle parking (park by control
Controller).
S107: vehicle mounted multimedia host issues prompting of parking according to described image signal and/or the radar inductive signal
Information.The buzzer reminded and be sent to vehicle of parking, buzzer can issue the sound prompting of different frequency according to distance；The pool
Vehicle prompting is sent to key terminal, and key terminal can embody prompting with modes such as sound, light, vibrations.In-vehicle networking module is integrated
In in the car multimedia host.
The sending of prompting of parking mainly is determined by the distance between the car body of vehicle and barrier, and determination of distance then may be used
It is determined by described image signal and radar inductive signal.Wherein picture signal determine the car body of vehicle at a distance from barrier,
It can be determined by the boundary of the car body and the boundary of barrier.Such as it is identified in the picture using image border identification technology
The edge at the edge of barrier and the car body, to calculate the distance between car body edge and barrier edge.Specifically relate to
And image processing techniques repeats no more for the prior art, and radar detection obstacle distance then belongs to routine techniques and also no longer goes to live in the household of one's in-laws on getting married
It states.
S108: key terminal receives park prompting after, issue the vibration reminding of different frequency.
Key terminal can be connect by WIFI module or the radio-frequency module of itself (radio-frequency module that such as close door uses)
Receipts are parked prompting.Different distances corresponds to different vibration frequencies, and operator can be according to vibration frequency disturbance of perception object and vehicle
Distance.
Key terminal receives prompting message of parking, control key terminal vibration；It specifically can be by being built in key terminal
Motor realize.
If the prompting message of parking is with azimuth information, control key terminal corresponds to the position shake of the azimuth information
It is dynamic.Either radar or image detection, it can be concluded that the position of barrier, binding site coordinate-system or other are markup
The barrier that means can easily go out is located at the specific orientation of car body.So the azimuth information can then be recorded and be given aobvious
Show, or the response vibration of key terminal is controlled according to the azimuth information.For example, key terminal corner location is respectively provided with motor,
If barrier is in the left back of vehicle, the motor vibration of the left rear corner of key terminal；If barrier is on the rear of vehicle, a left side
The motor of the right relief angle of relief angle shakes simultaneously.Wherein, the front-rear direction of key terminal corresponds to the front-rear direction of vehicle.
S109: display switching.
It parks more easily to assist user to complete remote control, key terminal can be with switching display content or according to situation of parking
Automatically switch display content.For example, when operator needs to check during remote control is parked panoramic picture or radar Dynamic Graph, it can
Operate the screen display module switching display panoramic picture or radar Dynamic Graph of key terminal.For example, operator can horizontally slip
Complete switching.It is specific as follows:
One, receives the operational order of operator, completes view angle switch according to operational order.Screen display module currently shows panoramic picture
When, operator can double-click screen display module and complete display switching.For example, the specific position shown in the panoramic picture is double-clicked, it should
The multi-view image of specific position is then individually shown.For example, it if operator needs to check vehicle left back visual angle, double-clicks complete
The lower left position of scape image transfers the image of the corresponding photographing module acquisition of lower left position individually to show.
Two, control the panoramic picture with the radar Dynamic Graph described according to the corresponding signal source of prompting message of parking
Key terminal and/or vehicle-carrying display screen switching display.It is issued and is reminded by detections of radar obstacle distance during usually parking,
But there is radar shadown since allocation problem is not that full vehicle body has radar in some vehicles, this is unfavorable for operator's remote control
It parks.Therefore it can be detected based on image recognition backup radar, realize that non-blind area is parked, while more convenient operator understands feelings of parking
Condition, key terminal can remind corresponding signal source to show to need content automatically according to parking.
Specifically, if according to described image signal and the capable of emitting prompting message of parking of the radar inductive signal, root
Prompting message of parking is issued according to the radar inductive signal.Such as the rear end of vehicle, have a radar module, and radar module precision compared with
Height is then preferentially shown using the corresponding radar Dynamic Graph of radar.
If barrier is in radar shadown, judge that vehicle boundary is sent out at a distance from obstacles borders according to the panoramic picture
It parks out prompting message.Radar shadown can be preset or is actively arranged by user.Park what prompting was issued according to panoramic picture,
Then key terminal shows panoramic picture, and the panoramic picture is for example above-mentioned to select multi-view image for operator.
S110: the specific display of In-vehicle networking module acquisition foregoing description.
S111: In-vehicle networking module sends the display content for needing to switch to key terminal.
S112: key terminal shows the content that In-vehicle networking module is sent.
It should be noted that above-mentioned steps S109 to S112 is not limited to the constraint of step number, which can be
Key terminal executes after receiving panoramic picture or radar Dynamic Graph.It should be understood that in the switching in and receive of display content
It can be switched over after appearance, such as after step S104.
Through the foregoing embodiment it is found that when operator is parked using remote-control key control, the aobvious of remote-control key can be passed through
Show that information intuitively understands vehicle-surroundings barrier orientation and distance, and obtain vibration reminding simultaneously, avoids in use process because of institute
Locating position, there are vision dead zone bring risks.
This specification also provides a kind of scheme similar with parking assistance method shown in Fig. 1, except that image procossing
And Radar Signal Processing is executed in key terminal.It is specific as follows:
The sending of key terminal is parked request, which is transmitted to In-vehicle networking module, and In-vehicle networking data bits are parked function
And ancillary equipment.Key terminal receives the information of ancillary equipment transmission, including picture signal and radar inductive signal.Key terminal
To picture signal and the processing of radar inductive signal to form displayable panoramic picture and radar Dynamic Graph and show.Key
Terminal issues instruction of parking to In-vehicle networking module, and In-vehicle networking module is according to instruction control vehicle parking of parking.Key terminal
Prompting message of parking is issued according to described image signal and/or the radar inductive signal, which can be sound
It can be the vibration reminding of key terminal itself.The screen display module that user can operate key terminal realizes the switching of display content,
Specific such as Fig. 1 embodiment associated description, repeats no more.
In the present embodiment, key terminal built-in processor and memory, and have corresponding function program, image and radar
The processing of signal is executed in key terminal, has saved the energy consumption of In-vehicle networking module.In addition, key terminal can pass data-signal
It transports to cloud server and carries out data processing, then receive the feedback of cloud server, the energy consumption of key terminal can be saved.
In order to illustrate more clearly of the page presentation scheme of this specification embodiment, separately below again from unilateral angle,
The auxiliary method of parking that In-vehicle networking module is executed with key terminal is illustrated:
Fig. 2 is that a kind of auxiliary applied to In-vehicle networking module shown in one exemplary embodiment of this specification is parked method flow
Figure.Referring to Fig. 2, in the embodiment depicted in figure 2, which comprises
S201: instruction of parking, park function and the ancillary equipment of In-vehicle networking data bits vehicle are received.
In this step, after In-vehicle networking module receives instruction of parking, by the communication and electronic control of CAN-BUS bus
Instruction wakes up vehicle-mounted parking ancillary equipment of the wake-ups such as 360 panorama functions, the radar module of vehicle for vehicle parking control.
S202: the picture signal and radar inductive signal of the ancillary equipment transmission are received, to picture signal and thunder
Up to inductive signal processing to form displayable panoramic picture and radar Dynamic Graph, and according to described image signal and/or described
Radar inductive signal issues prompting message of parking.
The ancillary equipment includes radar and photographing module, can obtain radar and picture signal.In-vehicle networking module passes through
Vehicle mounted multimedia host/vehicle-carrying display screen shows panoramic picture or radar Dynamic Graph, is shown.In-vehicle networking module can basis
The distance of detections of radar issues prompting message of parking, which can be embodied by the buzzer on vehicle；Such as it is visited according to radar
Measure the sound prompting that barrier different distance control buzzer issues different frequency.Prompting message can of course be sent simultaneously
To key terminal.
Prompting message is issued according to panoramic picture, can be realized by identifications such as image boundary, depth of field distances；Can specifically it pass through
Certain panoramic shooting module or multiple photographing modules acquisition image recognition barrier and car body it is specific.It again may be by vehicle
On buzzer embody；Such as the sound of the different distance control buzzer sending different frequency calculated according to image recognition mentions
It wakes up, prompting message can also be sent to key terminal simultaneously.
It wherein, can correct azimuth information of the cognitive disorders object relative to vehicle according to radar or panoramic picture.For example, every
The corresponding orientation label of a radar, if left back detections of radar is to barrier, azimuth information of the barrier relative to vehicle
For left back.In another example establishing coordinate system according to panoramic picture, if barrier is shown in panoramic picture, known according to coordinate system
Not Chu barrier coordinate information.Certainly it above are only exemplary illustration, the embodiment of this specification should not be limited.
Radar detection is obviously more more acurrate than image detection precision, excellent under some scenes more special, parking place is narrow
First improve the execution priority of radar detection result.
If barrier is in radar shadown (such as without radar alarm), can be judged according to the panoramic picture vehicle boundary with
The distance of obstacles borders issues prompting message of parking.
If according to described image signal and the capable of emitting prompting message of parking of the radar inductive signal, according to the thunder
Prompting message of parking is issued up to inductive signal.
S203: the displayable panoramic picture or radar Dynamic Graph are sent to the key terminal and/or vehicle-mounted aobvious
Display screen is shown.
If the corresponding signal source of the prompting message of parking is picture signal, the key terminal and/or vehicle-mounted aobvious is controlled
Display screen shows the panoramic picture；
If the corresponding signal source of the prompting message of parking is radar inductive signal, the key terminal and/or vehicle-mounted aobvious is controlled
Display screen shows the radar Dynamic Graph.
S204: switching command or the corresponding signal source of prompting message of parking control the panoramic picture and institute based on the received
Radar Dynamic Graph is stated in the key terminal and/or vehicle-carrying display screen switching display.
S205: when the key terminal and/or vehicle-carrying display screen show panoramic picture, according to operational order to the key
Spoon terminal and/or vehicle-carrying display screen send the multi-view image in the panoramic picture of the corresponding operational order.
The specific embodiment content described in visible Fig. 1 of step S203 to step S205, repeats no more.
Fig. 3 is that a kind of auxiliary applied to key terminal shown in one exemplary embodiment of this specification is parked method flow
Figure.Referring to Fig. 3, in the embodiment shown in fig. 3, which comprises
S301: it wakes up screen display module and establishes WIFI network with In-vehicle networking module and connect.
In some embodiments, it is equipped with P key on key terminal, is remotely controlled function of parking for activating.In activation P key
Afterwards, the WIFI module of key terminal built-in is started to work, and connects the In-vehicle networking of vehicle, the screen display module of key terminal light into
Enter global function state.At this point, instruction execution priority of parking locks door instruction execution priority higher than solution.That is it parked
Cheng Zhong, the car locking of key terminal, unlock, the execution priority of back door lock are lower than parking manoeuvres execution priority.I.e. vehicle exists
Using park function when, press car locking/unlock/back door switch key, automobile is without being associated car locking/unlock/back door
Opening operation.Key is parked after function activation, and key terminal issues signal of parking and passes through In-vehicle networking to In-vehicle networking module.
S302: panoramic picture or radar Dynamic Graph are received, and shows panoramic picture or radar Dynamic Graph.
In a kind of embodiment, vehicle mounted multimedia host process radar inductive signal and picture signal, and form panoramic picture
And radar Dynamic Graph, the panoramic picture or radar Dynamic Graph are sent to key terminal, key terminal by In-vehicle networking module
Then panoramic picture and radar Dynamic Graph only are shown as display terminal.
In other embodiments, key terminal can be used as information processing end received by itself radar inductive signal and image is believed
Number, and panoramic picture and radar Dynamic Graph are formed, and panoramic picture and radar Dynamic Graph are shown in the screen display module of itself.
The directly received panoramic picture of key terminal or radar Dynamic Graph show content by received prompting message pair of parking
The signal source control answered.If the corresponding signal source of the prompting message of parking is picture signal, control the key terminal and/or
Vehicle-carrying display screen shows the panoramic picture.
If the corresponding signal source of the prompting message of parking is radar inductive signal, the key terminal and/or vehicle are controlled
It carries display screen and shows the radar Dynamic Graph.
S303: the solicited message of request switching display content is issued according to operational order, receives the panoramic picture or thunder
Up to Dynamic Graph and show.
Operator can also operate the screen display module of key terminal, realize the switching of display content, such as be referred to according to operation
Enable and (horizontally slipping) sending request switching display panoramic picture or radar Dynamic Graph.
In addition, screen display module shows that panoramic picture is, request switching display can also be issued according to operational order (double-click)
Certain viewing angles image in the panoramic picture.
S304: prompting message of parking, control key terminal vibration are received.
If the prompting message of parking is with azimuth information, control key terminal corresponds to the position shake of the azimuth information
It is dynamic.
In addition this specification also provides a kind of auxiliary and parks method, be applied to vehicle, the vehicle include key terminal with
In-vehicle networking module.The In-vehicle networking module can integrate in other vehicle modules, or and individualism.The another key
Spoon terminal further includes WIFI module and screen display module.The described method includes:
The key terminal connects In-vehicle networking module by the WIFI module, and sends signal of parking to controller of parking.
Key terminal is equipped with P key, is remotely controlled function of parking for activating.After activating P key, the WIFI module of key terminal starts
Work connects In-vehicle networking module.Key terminal is lighted equipped with back displays screen and Petting Area, and key is whole after pressing P key
End enters global function state.
360 panorama functions of the In-vehicle networking module activation vehicle and function of parking, the In-vehicle networking module obtain
360 panoramic pictures and by In-vehicle networking module transfer to the key terminal, and shown in key terminal.Key terminal issues
Signal of parking is transferred to In-vehicle networking module, and communication and electrical control command by CAN-BUS bus activate the 360 of vehicle
Panorama function and function of parking.
It parks and transmits radar inductive signal to the vehicle mounted multimedia host described in controller, the In-vehicle networking module will
The radar Dynamic Graph (transmission of vehicle mounted multimedia host) that processing radar inductive signal is formed is transmitted to the key terminal and shows.Pool
Vehicle information is transmitted to vehicle mounted multimedia host by controller output of parking, by CAN-BUS bus or instrument is handled and shown
Show, while the information processing formation signal that will park is transmitted to key terminal and synchronizes display.At this point, key terminal is only as aobvious
Show terminal, radar dynamic image signal is formed by the signal processing that In-vehicle networking module or instrument receive radar.
Alternatively, the key terminal obtains and handle the radar inductive signal of In-vehicle networking module transfer, it is dynamic to form radar
State figure.Information of parking is transmitted to vehicle mounted multimedia host or instrument by CAN-BUS bus by exporting after controller processing of parking
Table.Meanwhile information of parking is by output after controller processing of parking to In-vehicle networking module；In-vehicle networking module will be moored by network
The ECU that vehicle information is transmitted to key terminal is handled, and is formed dot chart and is shown in display screen, according to Vehicle Controller mark
The signal of note, forming position section Dynamically Announce.It is formed at this point, picture signal is converted by remote-control key inter-process.
Operating the screen display module can be switched 360 panoramic picture and the radar Dynamic Graph, and realize control of parking
System.The touch function of screen display module can be dynamic by sideslip screens switch display pattern, that is, corresponding 360 panoramic picture or radar
State figure
When there are barrier, the key terminal issues vibration reminding.It is alarmed according to parking radar tactful, in In-vehicle networking mould
Buzzer issues the sound prompting of different frequency when block or instrument receive radar detection different distance position signal, while will not
The corresponding current signal conversion electrons signal of same frequency is transmitted to key terminal by In-vehicle networking module or radio-frequency module, defeated
The vibration reminding of different frequency is realized to shock module out.
The method in conclusion auxiliary of this disclosure is parked solves operator using Intelligent key remote control pool
Vehicle-surroundings whole environmental information can not be understood when vehicle, avoid operation when there are blind area bring risk.Operator is not necessarily to palpus
Frequent observation of walking about, that is, can be appreciated that the information of vision dead zone；Operator is helped to assist discovery potential risk, and warning reminding；Report
Alert remind can automatically switch according to alarm signal source, improve usage experience.
The foregoing is merely the preferred embodiments of this specification, all in this explanation not to limit this specification
Within the spirit and principle of book, any modification, equivalent substitution, improvement and etc. done should be included in the model of this specification protection
Within enclosing.
Claims (10)
1. a kind of method for assisting parking, is applied to vehicle end, which is characterized in that the described method includes:
Reception is parked instruction, and park function and the ancillary equipment of vehicle are waken up；
The picture signal and radar inductive signal for receiving the ancillary equipment transmission, to picture signal and radar inductive signal
Processing is believed with forming displayable panoramic picture and radar Dynamic Graph according to described image signal and/or radar induction
It number issues and to park prompting message；
The displayable panoramic picture or radar Dynamic Graph are sent to key terminal and/or vehicle-carrying display screen is shown；
Switching command or the corresponding signal source of prompting message of parking control the panoramic picture based on the received and the radar is dynamic
State figure is in the key terminal and/or vehicle-carrying display screen switching display.
2. the method according to claim 1 for assisting parking, which is characterized in that the ancillary equipment includes radar and camera shooting
Module, it is described that prompting message of parking is issued according to described image signal and/or the radar inductive signal, comprising:
If barrier is in radar shadown, judge that vehicle boundary issues pool at a distance from obstacles borders according to the panoramic picture
Vehicle prompting message；Or
If according to described image signal and the capable of emitting prompting message of parking of the radar inductive signal, according to the radar sense
Induction signal issues prompting message of parking.
3. according to claim 1 or 2 assist the method parked, which is characterized in that the basis is parked prompting message pair
It is aobvious in the key terminal and/or vehicle-carrying display screen switching that the signal source answered controls the panoramic picture and the radar Dynamic Graph
Show, comprising:
If the corresponding signal source of the prompting message of parking is picture signal, the key terminal and/or vehicle-carrying display screen are controlled
Show the panoramic picture；
If the corresponding signal source of the prompting message of parking is radar inductive signal, the key terminal and/or vehicle-mounted aobvious is controlled
Display screen shows the radar Dynamic Graph.
4. according to claim 1 assist the method parked, which is characterized in that sending prompting message of parking includes:
The sound prompting that control buzzer is responded with different frequency,
And/or the control instruction information with azimuth information, the control instruction information is for controlling the vibration of key terminal.
5. according to claim 1 assist the method parked, which is characterized in that further include: when the key terminal and/or
When vehicle-carrying display screen shows panoramic picture, corresponding be somebody's turn to do is sent to the key terminal and/or vehicle-carrying display screen according to operational order
Multi-view image in the panoramic picture of operational order.
6. a kind of method for assisting parking, is applied to key terminal, the key terminal has screen display module, which is characterized in that
The described method includes:
It wakes up screen display module and establishes WIFI with In-vehicle networking module and connect；
Panoramic picture or radar Dynamic Graph are received, and shows panoramic picture or radar Dynamic Graph, shows that panoramic picture or radar are dynamic
State figure is controlled by the corresponding signal source of received prompting message of parking；Or
The solicited message that request switching display content is issued according to operational order, shows the panoramic picture or radar Dynamic Graph；
Wherein, the panoramic picture or radar Dynamic Graph are obtained by the key terminal processes, or are received and obtained by key terminal.
7. the method according to claim 6 for assisting parking, which is characterized in that described issued according to operational order requests to cut
Change the solicited message of display content, comprising:
Request switching display panoramic picture or radar Dynamic Graph are issued according to operational order；And/or
The certain viewing angles image in the request switching display panoramic picture is issued according to operational order.
8. the method according to claim 6 for assisting parking, which is characterized in that further include:
Reception is parked prompting message, control key terminal vibration；And/or
If the prompting message of parking is with azimuth information, control key terminal corresponds to the position vibrating of the azimuth information.
9. a kind of method for assisting parking characterized by comprising
Key terminal is sent to In-vehicle networking module is remotely controlled function activation request of parking, the In-vehicle networking data bits vehicle
Function of parking and ancillary equipment；
The In-vehicle networking module or key terminal receive the picture signal and radar inductive signal of the ancillary equipment transmission,
To picture signal and the processing of radar inductive signal to form displayable panoramic picture and radar Dynamic Graph, and according to the figure
As signal and/or the radar inductive signal issue prompting message of parking；Wherein, the displayable panoramic picture or radar are dynamic
State figure is for being shown in the key terminal and/or vehicle-carrying display screen；
The key terminal shows panoramic picture or radar Dynamic Graph；The key terminal has screen display module, operates the screen
The panoramic picture and radar Dynamic Graph can be switched in aobvious module；
The key terminal is parked and is shaken after prompting message described in receiving.
10. a kind of assist the method parked, which is characterized in that the vehicle includes key terminal and In-vehicle networking module, described
Key terminal further includes WIFI module and screen display module；The described method includes:
Key terminal connects In-vehicle networking module by the WIFI module, and sends signal of parking to controller of parking, wherein
The key terminal further includes WIFI module and screen display module；
360 panorama functions of the In-vehicle networking module activation vehicle and function of parking, it is complete that the In-vehicle networking module obtains 360
Scape image and by In-vehicle networking module transfer to the key terminal, and shown in key terminal；
For the controller of parking to the In-vehicle networking module transfer radar inductive signal, the In-vehicle networking module will handle thunder
The radar Dynamic Graph formed up to inductive signal is transmitted to the key terminal and shows；Or the key terminal obtains and handles vehicle
The radar inductive signal of support grid network module transfer forms radar Dynamic Graph；
Operating the screen display module can be switched 360 panoramic picture and the radar Dynamic Graph, and realize control of parking；
When there are barrier, the key terminal issues vibration reminding.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910756288.8A CN110466507A (en) | 2019-08-16 | 2019-08-16 | A method of auxiliary is parked |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910756288.8A CN110466507A (en) | 2019-08-16 | 2019-08-16 | A method of auxiliary is parked |
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| CN110466507A true CN110466507A (en) | 2019-11-19 |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111674328A (en) * | 2020-06-04 | 2020-09-18 | 纵目科技（上海）股份有限公司 | Display system, terminal and storage medium of panoramic sensing module |
| CN111746519A (en) * | 2020-06-05 | 2020-10-09 | 重庆长安汽车股份有限公司 | Safety monitoring method for short-distance remote control parking and computer readable storage medium |
| CN115320600A (en) * | 2022-07-22 | 2022-11-11 | 合众新能源汽车有限公司 | Control method, vehicle, and computer-readable storage medium |
| CN115320600B (en) * | 2022-07-22 | 2024-06-21 | 合众新能源汽车股份有限公司 | Control method, vehicle, and computer-readable storage medium |
-
2019
- 2019-08-16 CN CN201910756288.8A patent/CN110466507A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111674328A (en) * | 2020-06-04 | 2020-09-18 | 纵目科技（上海）股份有限公司 | Display system, terminal and storage medium of panoramic sensing module |
| CN111746519A (en) * | 2020-06-05 | 2020-10-09 | 重庆长安汽车股份有限公司 | Safety monitoring method for short-distance remote control parking and computer readable storage medium |
| CN115320600A (en) * | 2022-07-22 | 2022-11-11 | 合众新能源汽车有限公司 | Control method, vehicle, and computer-readable storage medium |
| CN115320600B (en) * | 2022-07-22 | 2024-06-21 | 合众新能源汽车股份有限公司 | Control method, vehicle, and computer-readable storage medium |
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