CN111891119A - Automatic parking control method and system - Google Patents
Automatic parking control method and system Download PDFInfo
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- CN111891119A CN111891119A CN202010600516.5A CN202010600516A CN111891119A CN 111891119 A CN111891119 A CN 111891119A CN 202010600516 A CN202010600516 A CN 202010600516A CN 111891119 A CN111891119 A CN 111891119A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/06—Automatic manoeuvring for parking
Abstract
The invention discloses an automatic parking control method and system, and relates to the technical field of automatic driving. The method comprises the following steps: receiving an automatic parking instruction, and entering an automatic parking mode according to the automatic parking instruction; after entering an automatic parking mode, acquiring images within a preset range of a vehicle through a visual sensor, and analyzing to generate parking space structural parameters, wherein the parking space structural parameters comprise parking space distribution and information around parking spaces; the parking space is analyzed by acquiring distance information through an ultrasonic sensor; generating a parking space schematic diagram by combining the parking space structural parameters and the parking space, and displaying the parking space schematic diagram, wherein the parking space schematic diagram comprises parking space numbers and information around the parking spaces; acquiring a target parking space number selected by a user, and marking the parking space number in the parking space schematic diagram according to the target parking space number; and sending a control instruction to park the vehicle into the target parking space corresponding to the target parking space number. The invention combines the visual sensor and the ultrasonic sensor pair to analyze the available parking space so as to facilitate the user to park in the ideal parking space.
Description
Technical Field
The invention relates to the technical field of automatic driving, in particular to an automatic parking control method and system.
Background
With the rapid development of automobile electronic technology and the rapid improvement of driving experience requirements of users, intellectualization gradually becomes the core competitiveness of automobiles. The automatic parking technology, one of the automobile intelligent technologies, effectively improves the pain point of the user which is difficult to park. However, the existing mainstream automatic parking technology includes: (1) the automatic parking system does not realize information interaction of people, vehicles and parking spaces, and when a plurality of parking spaces exist, the system cannot park in an ideal parking space according to the intention of a driver, (2) the automatic parking system based on the ultrasonic radar alone has difficulty in parking in inclined parking spaces; (3) vision-based autonomous parking systems alone have limited accuracy in detecting spatial obstacles, particularly sudden obstacles.
Disclosure of Invention
The present invention is directed to overcome the above-mentioned drawbacks of the background art, and provides an automatic parking control method and system, which combines a visual sensor and an ultrasonic sensor to analyze an available parking space, so that a user can park in a desired parking space.
In a first aspect, an automatic parking control method is provided, including the steps of:
receiving an automatic parking instruction, and entering an automatic parking mode according to the automatic parking instruction;
after entering an automatic parking mode, acquiring images within a preset range of a vehicle through a visual sensor, and analyzing to generate parking space structural parameters, wherein the parking space structural parameters comprise parking space distribution and information around parking spaces;
the parking space is analyzed by acquiring distance information through an ultrasonic sensor;
generating a parking space schematic diagram by combining the parking space structural parameters and the parking space, and displaying the parking space schematic diagram, wherein the parking space schematic diagram comprises parking space numbers and information around the parking spaces;
acquiring a target parking space number selected by a user, and marking the parking space schematic diagram according to the target parking space number;
and sending a control instruction to park the vehicle into the target parking space corresponding to the target parking space number.
According to the first aspect, in a first possible implementation manner of the first aspect, the method includes the following steps of obtaining a target parking space number selected by a user, sending a control instruction to park a vehicle into a target parking space corresponding to the target parking space number after marking the parking space diagram according to the target parking space number, and:
displaying target parking space parking confirmation selection and acquiring user selection information;
and if the user selection information acquired by the multiple identification modes is inconsistent, eliminating the mark of the target parking space number in the parking space schematic diagram, and acquiring the target parking space number selected by the user again.
According to the first aspect, in a second possible implementation manner of the first aspect, after the sending of the control instruction causes the vehicle to park in the target parking space corresponding to the target parking space number, the method further includes the following steps:
if the parking cancellation information is acquired, displaying a target parking space parking cancellation selection, and acquiring a user selection instruction;
and if the user selection instruction is cancellation, sending a parking cancellation instruction, and returning the original path of the vehicle to the initial position.
According to the first aspect, in a third possible implementation manner of the first aspect, after the control instruction is sent to park the vehicle in the target parking space corresponding to the target parking space number, the method further includes the following steps:
and if the visual sensor and/or the ultrasonic sensor detect that the obstacle appears in the preset range in the parking process, displaying parking space switching request information and returning the original path of the vehicle to the initial position.
According to the first aspect, in a fourth possible implementation manner of the first aspect, the method includes acquiring an image within a preset range of a vehicle through a vision sensor, and analyzing and generating parking space structural parameters, and specifically includes the following steps:
acquiring images within a preset range of the vehicle through a vision sensor;
analyzing the image to obtain parking space distribution and parking space information;
and numbering the parking spaces according to the parking space distribution, analyzing the types of the parking spaces and parking spaces capable of being parked according to the parking space information, and generating parking space structural parameters.
In a second aspect, there is provided an automatic parking control system including:
an instruction receiving module to: receiving an automatic parking instruction, and entering an automatic parking mode according to the automatic parking instruction;
the parking space analysis module is connected with the instruction receiving module and used for: after entering an automatic parking mode, acquiring images within a preset range of a vehicle through a visual sensor, and analyzing to generate parking space structural parameters, wherein the parking space structural parameters comprise parking space distribution and information around parking spaces; the parking space is analyzed by acquiring distance information through an ultrasonic sensor;
the information display module, with the parking stall analysis module is connected for: generating a parking space schematic diagram by combining the parking space structural parameters and the parking space, and displaying the parking space schematic diagram, wherein the parking space schematic diagram comprises parking space numbers and information around the parking spaces;
the instruction acquisition module is connected with the information display module and is used for: acquiring a target parking space number selected by a user;
the information display module is further configured to: marking the parking space schematic diagram according to the target parking space number;
the parking control module is connected with the instruction acquisition module and the parking space analysis module and is used for: and sending a control instruction to park the vehicle into the target parking space corresponding to the target parking space number.
According to a second aspect, in a first possible implementation manner of the second aspect, the information display module is further configured to: displaying target parking space parking confirmation selection;
the instruction acquisition module is further configured to: acquiring user selection information;
the information display module is further configured to: and if the user selection information acquired by the multiple identification modes is inconsistent, eliminating the mark of the target parking space number in the parking space schematic diagram, and acquiring the target parking space number selected by the user again.
According to the second aspect, in a second possible implementation manner of the second aspect, the information display module is further configured to: if the parking cancellation information is acquired, displaying a target parking space parking cancellation selection;
the instruction acquisition module is further configured to: acquiring a user selection instruction;
the parking control module is further configured to: and if the user selection instruction is cancellation, sending a parking cancellation instruction, and returning the original path of the vehicle to the initial position.
According to the second aspect, in a third possible implementation manner of the second aspect, the information display module is further configured to: if the visual sensor and/or the ultrasonic sensor detect that an obstacle appears in a preset range in the parking process, parking space switching request information is displayed;
the parking control module is further configured to: and if the visual sensor and/or the ultrasonic sensor detect that the obstacle appears in the preset range in the parking process, returning the original path of the vehicle to the initial position.
According to the second aspect, in a fourth possible implementation manner of the second aspect, the parking space analysis module specifically includes:
an image acquisition unit for: acquiring images within a preset range of the vehicle through a vision sensor;
the image analysis unit is connected with the image acquisition unit and is used for: analyzing the image to obtain parking space distribution and parking space information; and numbering the parking spaces according to the parking space distribution, and analyzing the types of the parking spaces and parking spaces according to the parking space information.
Compared with the prior art, the method and the device combine the visual sensor and the ultrasonic sensor pair to analyze the available parking space, so that a user can conveniently park in the ideal parking space.
Drawings
FIG. 1 is a schematic flow chart diagram illustrating an exemplary method for controlling automatic parking according to the present invention;
FIG. 2 is a schematic diagram of an automatic parking control system according to the present invention;
FIG. 3 is a schematic illustration of an HMI interface according to one embodiment of the invention;
FIG. 4 is a schematic flow chart diagram illustrating another exemplary automatic parking control method of the present invention;
FIG. 5 is a schematic structural diagram of an embodiment of an automatic parking control system according to the present invention;
FIG. 6 is a schematic illustration of an HMI interface according to one embodiment of the invention;
FIG. 7 is a schematic illustration of an HMI interface according to one embodiment of the invention.
Description of the drawings:
100. an automatic parking control system; 110. an instruction receiving module; 120. a parking space analysis module; 121. an image acquisition unit; 122. an image analysis unit; 130. an information display module; 140. an instruction acquisition module; 150. and a parking control module.
Detailed Description
Reference will now be made in detail to the present embodiments of the invention, examples of which are illustrated in the accompanying drawings. While the invention will be described in conjunction with the specific embodiments, it will be understood that they are not intended to limit the invention to the embodiments described. On the contrary, it is intended to cover alternatives, modifications, and equivalents as may be included within the spirit and scope of the invention as defined by the appended claims. It should be noted that the method steps described herein may be implemented by any functional block or functional arrangement, and that any functional block or functional arrangement may be implemented as a physical entity or a logical entity, or a combination of both.
In order that those skilled in the art will better understand the present invention, the following detailed description of the invention is provided in conjunction with the accompanying drawings and the detailed description of the invention.
Note that: the example to be described next is only a specific example, and does not limit the embodiments of the present invention necessarily to the following specific steps, values, conditions, data, orders, and the like. Those skilled in the art can, upon reading this specification, utilize the concepts of the present invention to construct more embodiments than those specifically described herein.
Referring to fig. 1, an embodiment of the present invention provides an automatic parking control method, including the following steps:
receiving an automatic parking instruction, and entering an automatic parking mode according to the automatic parking instruction;
after entering an automatic parking mode, acquiring images within a preset range of a vehicle through a visual sensor, and analyzing to generate parking space structural parameters, wherein the parking space structural parameters comprise parking space distribution and information around parking spaces;
the parking space is analyzed by acquiring distance information through an ultrasonic sensor;
generating a parking space schematic diagram by combining the parking space structural parameters and the parking space, and displaying the parking space schematic diagram, wherein the parking space schematic diagram comprises parking space numbers and information around the parking spaces;
acquiring a target parking space number selected by a user, and marking the parking space schematic diagram according to the target parking space number;
and sending a control instruction to park the vehicle into the target parking space corresponding to the target parking space number.
Specifically, in the present embodiment, as shown in fig. 2, the automatic parking system mainly includes an environment sensing module, a planning control module, and an HMI. The environment sensing module comprises a visual sensor (for example, a 360-degree look-around system, namely 4 fisheye cameras) and an ultrasonic sensor (for example, an ultrasonic radar), and can sense the surrounding parking spaces and the self-parking positions of the vehicle in real time. The HMI (Human machine interface) has functions of: (1) receiving environment sensing module information, and establishing a schematic diagram of a parking place in real time; (2) and the parking space information is interacted with the driver in real time. And the planning control module is mainly used for receiving the HMI control requirement and the vehicle state information so as to control the vehicle to move.
The planning control module receives an automatic parking instruction through the HMI and enters an automatic parking mode according to the automatic parking instruction, wherein the HMI has various modes for acquiring a user instruction, a user can directly click the touch display screen to select to enter the automatic parking mode, and the user can enter the automatic parking mode through voice control, and the method is not particularly limited. It is also possible to ask the user whether to enter the automatic parking mode after the vehicle is stopped for a certain period of time.
After the automatic parking mode is entered, images within a preset range of the vehicle are collected through a vision sensor (for example, 4 fisheye cameras arranged on the vehicle body), correction of the images, bird's-eye transformation and splicing are completed, and a 360-degree panorama is generated. Then preprocessing an image, including processing methods such as color image graying, histogram equalization and the like, then identifying a horizontal vehicle line by adopting a sobel edge algorithm, searching a pixel base point by adopting a sliding window method, completing fitting of a vehicle line in the vertical direction, and then obtaining an intersection point between two lines, thereby analyzing and generating parking space structural parameters, wherein the parking space structural parameters comprise parking space distribution and parking space surrounding information, and the parking space surrounding information is information influencing parking space availability, and comprises but not limited to a signboard, an obstacle and the like, such as private parking space identification information, a ground lock and the like.
Then, the ultrasonic sensor collects distance information to analyze the parking space, for example, an Automatic Parking Assist (APA) radar arranged on the side of the vehicle body collects the distance information in real time, and a mobile XY space parking space calculation method is adopted to determine a suspected parking space detected by ultrasonic.
And generating a parking space schematic diagram by combining the parking space structural parameters and the parking space, taking the parking space judged by the visual sensor as a reference, if the parking space is superposed with the space parking space judged by the ultrasonic sensor, determining that the parking space is available, and if the parking space is not superposed with the parking space judged by the ultrasonic radar sensor, determining that the parking space is unavailable. And show through HMI, the parking stall sketch map includes parking stall serial number and information around the parking stall to whether the user feels the parking stall directly perceivedly available, and can pass through pronunciation selection target parking stall through the serial number. As shown in FIG. 3, the parking space
The parking spaces found during the vehicle traveling process are
The parking space is a possible parking space, the parking space is a fifth parking space and the parking space is an occupied parking space (the red highlighting in the HMI is unavailable for the selection of the driver).
The number of the target parking space selected by the user is acquired, the information acquisition range of the sensor is wider than the visual field range of the user, so that the parking space which is not outside the visual field of the user exists in the parking space schematic diagram, the user can select a more proper position outside the visual field based on the analysis of the parking space schematic diagram, and the parking space in the visual field of the user can also be selected, for example, the current vehicle position is closer to the destination of the user, so that the parking space in the visual field is more proper in possible distance, and the distance after getting off is avoided to be too. And marking the parking space schematic diagram according to the target parking space number, such as marking yellow or highlighting the corresponding position, and the like. And finally, sending a control command to park the vehicle into the target parking space corresponding to the target parking space number.
The available parking stall is judged to the analysis result of synthesizing vision sensor and ultrasonic sensor on the one hand to this application, avoids single type's sensor to appear omitting. And on the other hand, parking is carried out based on the parking space selected by the user, the parking space is judged again by combining different experiences of each driver, and the phenomenon that the judgment of the parking space is incorrect due to the fact that the sensors miss information and the like is avoided.
Preferably, in another embodiment of the present invention, after obtaining the target parking space number selected by the user, and after marking the parking space diagram according to the target parking space number, sending a control instruction to park the vehicle in front of the target parking space corresponding to the target parking space number, the method further includes the following steps:
displaying target parking space parking confirmation selection and acquiring user selection information;
and if the user selection information acquired by the multiple identification modes is inconsistent, eliminating the mark of the target parking space number in the parking space schematic diagram, and acquiring the target parking space number selected by the user again.
Specifically, in this embodiment, after the user selects the target parking space, in order to avoid causing the user to operate by mistake, after the parking space diagram marks the target parking space, the HMI displays a target parking space parking confirmation selection, and inquires whether the user selects to park the target parking space. The method comprises the steps of obtaining user selection information, wherein the user selection information can be obtained through multiple identification modes, the HMI can sense the user to point yes through touch induction, then confirms that the intention which the user wants to express is yes at present based on gesture identification or voice identification, and if the intentions of the user identified by different identification modes are not consistent, eliminates marks of target parking space numbers in a parking space schematic diagram, returns to the previous step to pop up an interactive interface, and obtains the target parking space number selected by the user again.
The mark is carried out after the user selects the target parking stall for the first time in this application, and the user of being convenient for feels the position of the parking stall of oneself selection directly perceived, still obtains the information that the user confirmed once more through multiple identification mode in addition, avoids user's maloperation.
Preferably, in another embodiment of the present invention, the method for acquiring an image within a preset range of a vehicle by using a vision sensor, and analyzing and generating the parking space structural parameters specifically includes the following steps:
acquiring images within a preset range of the vehicle through a vision sensor;
analyzing the image to obtain parking space distribution and parking space information;
and numbering the parking spaces according to the parking space distribution, analyzing the types of the parking spaces and parking spaces capable of being parked according to the parking space information, and generating parking space structural parameters.
Specifically, in this embodiment, images within a preset range of the vehicle are collected by the vision sensor, and the images are analyzed to obtain parking space distribution and parking space information, where the parking space distribution refers to a parking space planned by an identifier such as a stop line, and the parking space information includes identifier information and obstacle information on each parking space, for example, it indicates that a certain parking space is a private parking space, a license plate number is marked on a certain parking space, or a ground lock is installed on a parking space. Then distribute according to the parking stall and carry out the reference numeral to each parking stall, every serial number diverse can the unique corresponding parking stall of confirming, and the user of being convenient for feels the position of each parking stall directly perceived to and select the target parking stall. Then, the types of the parking spaces and the parking spaces capable of being parked are analyzed according to the parking space information, for example, the parking spaces are judged to belong to private parking spaces, public parking spaces, visitor parking spaces or other types of parking spaces according to the identification information on the parking spaces. The parking space can also pass through obstacles on the parking space, such as ground locks, and the parking space is occupied by other vehicles, or the parking space is small and insufficient to park the vehicle due to the fact that the vehicles park around. And generating parking space structured parameters, wherein the parking space structured parameters comprise all the parking space information obtained by the analysis, so that a user can know the state of each parking space conveniently and can be helped to select a target parking space.
As shown in fig. 4, another embodiment of the present invention provides an automatic parking control method, which is an optimized embodiment of the foregoing embodiment, and after sending a control instruction to park a vehicle in a target parking space corresponding to the target parking space number, the method further includes the following steps:
if the parking cancellation information is acquired, displaying a target parking space parking cancellation selection, and acquiring a user selection instruction;
and if the user selection instruction is cancellation, sending a parking cancellation instruction, and returning the original path of the vehicle to the initial position.
And if the visual sensor and/or the ultrasonic sensor detect that the obstacle appears in the preset range in the parking process, displaying parking space switching request information and returning the original path of the vehicle to the initial position.
Specifically, in this embodiment, in the process that the system sends the control instruction to park the vehicle into the target parking space according to the target parking space selected by the user, if the parking cancellation information is obtained, in order to avoid the user misoperation, the parking is not cancelled immediately, but the target parking space parking cancellation selection is displayed through the HMI, then the user selection instruction is obtained, and whether the parking is cancelled is determined again. Likewise, the user-sent parking cancellation information and user selection instructions may be obtained in a variety of ways. And if the user selection instruction is cancellation, sending a parking cancellation instruction, and returning the original path of the vehicle to the initial position.
In addition, if the vision sensor and/or the ultrasonic sensor detect that an obstacle appears in a preset range, for example, another vehicle is parked in the same parking space, or pedestrians or goods appear in the process that the system sends a control command to park the vehicle in the target parking space according to the target parking space selected by the user, the parking space switching request information is displayed through the HMI, and the vehicle is returned to the initial position. And if the user reselects a new target parking space, automatically parking again according to the flow.
According to the parking method and the parking system, in the process that the vehicle is automatically parked in the target parking space selected by the user, on one hand, parking cancellation can be selected at any time based on the self requirement of the user, and the state before parking is returned, for example, the user needs to leave temporarily and no parking requirement exists any more. On the other hand, when the visual sensor or the ultrasonic sensor detects that the obstacle appears on the parking path or the target parking space, the parking is cancelled in time, and accidents are avoided.
As shown in fig. 5, an embodiment of the present invention provides an automatic parking control system 100, including:
an instruction receiving module 110, configured to: receiving an automatic parking instruction, and entering an automatic parking mode according to the automatic parking instruction;
the parking space analyzing module 120 is connected to the instruction receiving module 110, and is configured to: after entering an automatic parking mode, acquiring images within a preset range of a vehicle through a visual sensor, and analyzing to generate parking space structural parameters, wherein the parking space structural parameters comprise parking space distribution and information around parking spaces; the parking space is analyzed by acquiring distance information through an ultrasonic sensor;
an information display module 130 connected to the parking space analysis module 120, for: generating a parking space schematic diagram by combining the parking space structural parameters and the parking space, and displaying the parking space schematic diagram, wherein the parking space schematic diagram comprises parking space numbers and information around the parking spaces;
an instruction obtaining module 140, connected to the information display module 130, configured to: acquiring a target parking space number selected by a user;
the information display module 130 is further configured to: marking the parking space schematic diagram according to the target parking space number;
a parking control module 150, connected to the instruction obtaining module 140 and the parking space analyzing module 120, and configured to: and sending a control instruction to park the vehicle into the target parking space corresponding to the target parking space number.
The information display module 130 is further configured to: displaying target parking space parking confirmation selection;
the instruction fetch module 140 is further configured to: acquiring user selection information;
the information display module 130 is further configured to: and if the user selection information acquired by the multiple identification modes is inconsistent, eliminating the mark of the target parking space number in the parking space schematic diagram, and acquiring the target parking space number selected by the user again.
The information display module 130 is further configured to: if the parking cancellation information is acquired, displaying a target parking space parking cancellation selection;
the instruction fetch module 140 is further configured to: acquiring a user selection instruction;
the parking control module 150 is further configured to: and if the user selection instruction is cancellation, sending a parking cancellation instruction, and returning the original path of the vehicle to the initial position.
The information display module 130 is further configured to: if the visual sensor and/or the ultrasonic sensor detect that an obstacle appears in a preset range in the parking process, parking space switching request information is displayed;
the parking control module 150 is further configured to: and if the visual sensor and/or the ultrasonic sensor detect that the obstacle appears in the preset range in the parking process, returning the original path of the vehicle to the initial position.
The parking space analyzing module 120 specifically includes:
an image acquisition unit 121 configured to: acquiring images within a preset range of the vehicle through a vision sensor;
an image analysis unit 1222, connected to the image acquisition unit 121, for: analyzing the image to obtain parking space distribution and parking space information; and numbering the parking spaces according to the parking space distribution, and analyzing the types of the parking spaces and parking spaces according to the parking space information.
Specifically, the functions of each apparatus in this embodiment are elaborated in the corresponding method embodiment, and are not described here one by one.
The embodiment of the invention provides an automatic parking control method, which is realized by the following processes:
1) and issuing an automatic parking instruction.
2) The environment perception module starts, by 12 ultrasonic radar (4APA +8UPA), 360 look around the system (4 fisheye cameras) and data processing unit constitute:
(1) acquiring images by 4 fisheye cameras arranged on the vehicle body, and finishing the correction, the aerial view transformation and the splicing of the images to generate a 360-degree panoramic image; the data processing unit preprocesses the image, and comprises processing methods such as color image graying, histogram equalization and the like; the data processing unit identifies a horizontal vehicle line by using a sobel edge algorithm, searches a pixel base point by using a sliding window method, finishes fitting of the vehicle line in the vertical direction, then obtains an intersection point between two lines and obtains a parking space structuring parameter.
(2) An APA (automatic parking assist) radar arranged on the side face of the vehicle body collects distance information in real time, and a suspected parking space detected by ultrasonic waves is determined by adopting a mobile XY space parking space calculation method.
(3) Taking the parking space judged by the visual sensor according to the parking space line as a reference, and if the parking space is superposed with the space parking space judged by the ultrasonic sensor, determining that the parking space can be parked; and if the parking space does not coincide with the parking space judged by the ultrasonic radar sensor, judging that the parking space is not available. And then, outputting the structural parameters of the parking spaces and the parking spaces to the HMI.
3) The HMI receives information such as vehicle states and parking space structuralization parameters in real time, and establishes a schematic diagram of parking spaces in the HMI interactive interface in real time for a driver to select. As shown in FIG. 3, the parking space
The parking spaces found during the vehicle traveling process are
The parking space is a possible parking space, the parking space is a fifth parking space and the parking space is an occupied parking space (the red highlighting in the HMI is unavailable for the selection of the driver). HMI passes through touch screen and driver real-time interaction, and the operating logic is: (1) in the parking space confirmation stage, the HMI displays a parking space schematic diagram and sends a prompt message to a driver, the driver firstly combines the parking space schematic diagram in figure 3 to select a possible parking space,the HMI senses that a driver selects a parking space through modes of voice recognition, gesture recognition, touch induction and the like, at the moment, the HMI reads configuration data of a human-computer interaction interface in the database, pops up the interaction interface whether to park in the parking space according to the read configuration data of the human-computer interaction interface, as shown in figure 6, the driver clicks an option 'yes', the HMI verifies whether the intention of the user is yes or not through various recognition modes, and if the intention is yes, a parking instruction is issued to the planning control module; here, the multiple recognition modes mean that the HMI can sense that a user points yes through touch induction, then confirm that the intention which the user wants to express is yes based on gesture recognition or voice recognition, and return to the previous step to pop up the interactive interface "whether to park in the parking space" (r) "if the user intentions recognized by the different recognition modes are not consistent; (2) and a parking canceling stage, in which parking is canceled in the automatic parking process, a driver clicks the parking space on the touch screen ((the parking space is orange and highlighted)), at the moment, the HMI pops up an interactive interface to determine whether to cancel the parking space ((R) (-)), as shown in FIG. 7, the driver clicks an option "Yes", the HMI receives a driver instruction and then sends a parking canceling instruction to the planning control module, the planning control module controls the vehicle to return to the position of the vehicle before parking according to the original path, and meanwhile, the interactive interface of the HMI returns to FIG. 3 for the driver to perform the next selection operation. Here, a number of scenarios can be implemented, for example: parking space selection within the visual field range, parking space outside the visual field range and parking cancellation at any time.
4) The planning control module receives a parking instruction issued by the HMI, calculates an optimal parking path and strategy according to the relative position of the vehicle and the target parking space and the surrounding environment parameters, converts the control strategy into an electric signal and transmits the electric signal to the actuator, and guides the vehicle to finish automatic parking according to a planned route. If the planning control module receives a parking cancellation instruction issued by the HMI, the planning control module can calculate a reverse control strategy according to the path and the strategy of the parking stage, convert the reverse control strategy into an electric signal and transmit the electric signal to the actuator, and guide the vehicle to return to the position before parking. The ultrasonic radar system is used as safety redundancy, the obstacles around the vehicle are detected in real time, the defect of the obstacle detection capability of the visual sensor is overcome, when a new obstacle suddenly appears in the parking process, the HMI can display that the parking space is unavailable and other parking spaces are required to be switched, a parking cancellation instruction is issued to the planning control module, and the vehicle returns to the position before parking under the guidance of the planning control module.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (10)
1. An automatic parking control method is characterized by comprising the following steps:
receiving an automatic parking instruction, and entering an automatic parking mode according to the automatic parking instruction;
after entering an automatic parking mode, acquiring images within a preset range of a vehicle through a visual sensor, and analyzing to generate parking space structural parameters, wherein the parking space structural parameters comprise parking space distribution and information around parking spaces;
the parking space is analyzed by acquiring distance information through an ultrasonic sensor;
generating a parking space schematic diagram by combining the parking space structural parameters and the parking space, and displaying the parking space schematic diagram, wherein the parking space schematic diagram comprises parking space numbers and information around the parking spaces;
acquiring a target parking space number selected by a user, and marking the parking space schematic diagram according to the target parking space number;
and sending a control instruction to park the vehicle into the target parking space corresponding to the target parking space number.
2. The method as claimed in claim 1, wherein the method comprises the following steps of obtaining a target parking space number selected by a user, marking the parking space diagram according to the target parking space number, and sending a control instruction to park a vehicle in a position corresponding to the target parking space number, wherein the method further comprises the following steps:
displaying target parking space parking confirmation selection and acquiring user selection information;
and if the user selection information acquired by the multiple identification modes is inconsistent, eliminating the mark of the target parking space number in the parking space schematic diagram, and acquiring the target parking space number selected by the user again.
3. The method of claim 1, wherein after sending the control command to park the vehicle in the target space corresponding to the target space number, the method further comprises the following steps:
if the parking cancellation information is acquired, displaying a target parking space parking cancellation selection, and acquiring a user selection instruction;
and if the user selection instruction is cancellation, sending a parking cancellation instruction, and returning the original path of the vehicle to the initial position.
4. The method of claim 1, wherein after sending the control command to park the vehicle in the target space corresponding to the target space number, the method further comprises the following steps:
and if the visual sensor and/or the ultrasonic sensor detect that the obstacle appears in the preset range in the parking process, displaying parking space switching request information and returning the original path of the vehicle to the initial position.
5. The method as claimed in claim 1, wherein the images within the preset range of the vehicle are collected by a vision sensor, and the parking space structural parameters are analyzed and generated, and the method specifically comprises the following steps:
acquiring images within a preset range of the vehicle through a vision sensor;
analyzing the image to obtain parking space distribution and parking space information;
and numbering the parking spaces according to the parking space distribution, analyzing the types of the parking spaces and parking spaces capable of being parked according to the parking space information, and generating parking space structural parameters.
6. An automatic parking control system, characterized by comprising:
an instruction receiving module to: receiving an automatic parking instruction, and entering an automatic parking mode according to the automatic parking instruction;
the parking space analysis module is connected with the instruction receiving module and used for: after entering an automatic parking mode, acquiring images within a preset range of a vehicle through a visual sensor, and analyzing to generate parking space structural parameters, wherein the parking space structural parameters comprise parking space distribution and information around parking spaces; the parking space is analyzed by acquiring distance information through an ultrasonic sensor;
the information display module, with the parking stall analysis module is connected for: generating a parking space schematic diagram by combining the parking space structural parameters and the parking space, and displaying the parking space schematic diagram, wherein the parking space schematic diagram comprises parking space numbers and information around the parking spaces;
the instruction acquisition module is connected with the information display module and is used for: acquiring a target parking space number selected by a user;
the information display module is further configured to: marking the parking space schematic diagram according to the target parking space number;
the parking control module is connected with the instruction acquisition module and the parking space analysis module and is used for: and sending a control instruction to park the vehicle into the target parking space corresponding to the target parking space number.
7. The system of claim 6, wherein:
the information display module is further configured to: displaying target parking space parking confirmation selection;
the instruction acquisition module is further configured to: acquiring user selection information;
the information display module is further configured to: and if the user selection information acquired by the multiple identification modes is inconsistent, eliminating the mark of the target parking space number in the parking space schematic diagram, and acquiring the target parking space number selected by the user again.
8. The system of claim 6, wherein:
the information display module is further configured to: if the parking cancellation information is acquired, displaying a target parking space parking cancellation selection;
the instruction acquisition module is further configured to: acquiring a user selection instruction;
the parking control module is further configured to: and if the user selection instruction is cancellation, sending a parking cancellation instruction, and returning the original path of the vehicle to the initial position.
9. The system of claim 6, wherein:
the information display module is further configured to: if the visual sensor and/or the ultrasonic sensor detect that an obstacle appears in a preset range in the parking process, parking space switching request information is displayed;
the parking control module is further configured to: and if the visual sensor and/or the ultrasonic sensor detect that the obstacle appears in the preset range in the parking process, returning the original path of the vehicle to the initial position.
10. The system of claim 6, wherein the parking space analysis module specifically comprises:
an image acquisition unit for: acquiring images within a preset range of the vehicle through a vision sensor;
the image analysis unit is connected with the image acquisition unit and is used for: analyzing the image to obtain parking space distribution and parking space information; and numbering the parking spaces according to the parking space distribution, and analyzing the types of the parking spaces and parking spaces according to the parking space information.
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| CN202010600516.5A CN111891119A (en) | 2020-06-28 | 2020-06-28 | Automatic parking control method and system |
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| CN202010600516.5A CN111891119A (en) | 2020-06-28 | 2020-06-28 | Automatic parking control method and system |
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