CN112158191A - Automatic parking method, system and readable storage medium - Google Patents
Automatic parking method, system and readable storage medium Download PDFInfo
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- CN112158191A CN112158191A CN202010593779.8A CN202010593779A CN112158191A CN 112158191 A CN112158191 A CN 112158191A CN 202010593779 A CN202010593779 A CN 202010593779A CN 112158191 A CN112158191 A CN 112158191A
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- 208000027418 Wounds and injury Diseases 0.000 abstract description 3
- 230000006378 damage Effects 0.000 abstract description 3
- 208000014674 injury Diseases 0.000 abstract description 3
- 230000033001 locomotion Effects 0.000 description 6
- 230000003068 static effect Effects 0.000 description 5
- 230000003993 interaction Effects 0.000 description 3
- 230000005856 abnormality Effects 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/06—Automatic manoeuvring for parking
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/001—Planning or execution of driving tasks
- B60W60/0015—Planning or execution of driving tasks specially adapted for safety
- B60W60/0016—Planning or execution of driving tasks specially adapted for safety of the vehicle or its occupants
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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
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/005—Handover processes
- B60W60/0051—Handover processes from occupants to vehicle
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Abstract
The invention discloses an automatic parking method, a system and a readable storage medium, wherein the method comprises the following steps: responding to a parking starting instruction sent by first equipment, obtaining in-vehicle personnel condition information, and determining whether the in-vehicle personnel condition information meets a preset parking condition; if so, taking over the control function of the vehicle; and acquiring a preset parking route, and parking the vehicle based on the preset parking route and the control function. After the parking starting instruction sent by the first device is responded, the condition information of the people in the vehicle is automatically acquired, and when the condition information of the people in the vehicle meets the preset parking condition, the control function of the vehicle is taken over and the preset parking route is acquired to park. The injury to the personnel still remaining in the vehicle is avoided in the parking process, and the use safety of the automatic parking function of the vehicle is further improved.
Description
Technical Field
The invention relates to the technical field of parking, in particular to an automatic parking method, an automatic parking system and a readable storage medium.
Background
With the development of intellectualization of vehicles, more and more vehicles are beginning to provide automatic parking systems to help drivers with inexperienced parking experience to conveniently park. However, the existing automatic parking systems have some problems, such that when a driver uses the automatic parking system to park, there is a safety hazard, for example, when parking, other fellow passengers are not getting off the vehicle, and when parking automatically, the vehicle may be out of control due to a failure of parking related equipment, so that the fellow passengers who did not get off the vehicle are injured.
Therefore, the conventional automatic parking function of the vehicle has the problem of insufficient safety during use.
Disclosure of Invention
The invention mainly aims to provide an automatic parking method, an automatic parking system and a readable storage medium, and aims to solve the technical problem that the existing automatic parking function of a vehicle is not safe enough when in use.
In order to achieve the above object, the present invention provides an automatic parking method, including the steps of:
responding to a parking starting instruction sent by first equipment, obtaining in-vehicle personnel condition information, and determining whether the in-vehicle personnel condition information meets a preset parking condition;
if so, taking over the control function of the vehicle;
and acquiring a preset parking route, and parking the vehicle based on the preset parking route and the control function.
Preferably, the determining whether the information on the condition of the vehicle interior passenger meets a preset parking condition further includes:
and if the information of the condition of the people in the vehicle does not meet the preset parking condition, outputting corresponding prompt information to the first equipment.
Preferably, the automatic parking method further includes: the process of generating the preset parking route specifically includes:
determining an intended parking position in response to the auxiliary parking instruction;
and acquiring surrounding environment information and preset vehicle information corresponding to the intended parking position, and generating a preset parking route based on the surrounding environment information and the preset vehicle information.
Preferably, the automatic parking method further includes:
continuously updating the surrounding environment information;
and stopping parking if the updated ambient environment information meets the preset parking stopping condition.
Preferably, the vehicle includes an execution system including one or more, and the automatic parking method further includes:
detecting the working state of each execution system;
and stopping parking if the working state of one or more execution systems is abnormal.
Preferably, the automatic parking method further includes:
stopping the parking in response to a parking stop instruction of the second device.
Preferably, the automatic parking method further includes:
and feeding back parking success information to the first device so that the first device outputs reminding information corresponding to the parking success information.
In addition, in order to achieve the above object, the present invention further provides an automatic parking system, which includes an advanced driving assistance system, a user connection unit, and a first device, wherein the first device and the advanced driving assistance system interact with each other through the user connection unit.
Preferably, the automatic parking system further comprises a vehicle body controller for receiving a control instruction sent by the second device.
In addition, to achieve the above object, the present invention further provides a computer-readable storage medium having an automatic parking program stored thereon, where the automatic parking program, when executed by a processor, implements the steps of the automatic parking method as described above.
According to the method, the device and the system, in-vehicle personnel condition information is obtained by responding to a parking starting instruction sent by first equipment, and whether the in-vehicle personnel condition information meets a preset parking condition is determined; if so, taking over the control function of the vehicle; and acquiring a preset parking route, and parking the vehicle based on the preset parking route and the control function. After the parking starting instruction sent by the first device is responded, the condition information of the people in the vehicle is automatically acquired, and when the condition information of the people in the vehicle meets the preset parking condition, the control function of the vehicle is taken over and the preset parking route is acquired to park. The injury to the personnel still remaining in the vehicle is avoided in the parking process, and the use safety of the automatic parking function of the vehicle is further improved.
Drawings
FIG. 1 is a schematic flow chart diagram of a first embodiment of an automatic parking method of the present invention;
fig. 2 is a schematic diagram of the composition of the automatic parking system of the present invention.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The invention provides an automatic parking method, and referring to fig. 1, fig. 1 is a flow chart of a first embodiment of the automatic parking method.
While a logical order is shown in the flow chart, in some cases, the steps shown or described may be performed in an order different than presented herein. For convenience of description, the execution subject will be omitted below to describe each step of the automatic parking method. The automatic parking method comprises the following steps:
step S10, responding to a parking starting instruction sent by the first device, obtaining the situation information of the people in the vehicle, and determining whether the situation information of the people in the vehicle meets the preset parking condition.
Specifically, in response to a parking start instruction sent by the first device, vehicle interior personnel condition information is acquired, and whether the vehicle interior personnel condition information meets a preset parking condition is determined. The in-vehicle personnel situation information comprises two situations, namely the situation that a person is in the vehicle and the situation that the person is not in the vehicle, and the situation that the person is in the vehicle can be the situation that parents leave a child in the vehicle or an old person who is inconvenient to move is left in the vehicle due to slow movement. In order to avoid the transmission of the above situations, a detection mechanism needs to be set, so as to detect whether people are not getting off the vehicle in the vehicle after receiving the instruction for starting parking; and if no person exists in the vehicle, the preset parking condition is met.
It should be noted that the in-vehicle occupant condition information may be acquired by an in-vehicle device or component, for example, by an in-vehicle camera, or by a temperature sensor.
It should be noted that the first device may be a mobile terminal device, such as a mobile phone; it may also be a smart wearable device, such as a smart watch. The driver can open a corresponding APP (Application) at the first terminal, and trigger a parking start operation of one-touch parking on a corresponding interface of the APP, so that the vehicle starts to park.
It should be noted that the first device and the vehicle may communicate with each other through bluetooth.
And step S20, if yes, taking over the control function of the vehicle.
Specifically, if the in-vehicle occupant condition information meets a preset parking condition, the control function of the vehicle is taken over.
The control functions include a steering function, a brake function, a parking brake function, a vehicle body control function, and the like for changing the moving state of the vehicle or the vehicle interior.
And step S30, acquiring a preset parking route, and parking the vehicle based on the preset parking route and the control function.
Specifically, a preset parking route is acquired, and the vehicle is parked based on the preset parking route and the control function. It should be noted that the preset parking route is a track where the vehicle moves from the current position to the target parking position, and according to the preset parking route, the vehicle can be accurately controlled through the control function to complete parking.
In addition, after parking is finished, the vehicle is automatically switched off and the vehicle is automatically locked by powering off, so that the situation that the driver needs to switch off and lock the vehicle by using the vehicle electronic key after parking is finished is avoided, and the use convenience of the automatic parking function is improved.
Further, the determining whether the information of the condition of the person in the vehicle meets a preset parking condition further includes:
and step S40, if the information of the condition of the people in the vehicle does not meet the preset parking condition, outputting corresponding prompt information to the first device.
Specifically, if the in-vehicle personnel condition information does not meet the preset parking condition, the corresponding prompt information is output to the first device, when personnel exist in the vehicle, the control function is not acquired, and the prompt information is output to the first device, for example, characters prompt a driver that children exist in the vehicle, or the control function is acquired but the vehicle is not parked, but the driver is reminded through the vehicle, for example, double flashing is automatically turned on, and relevant voice prompt information is output through a vehicle-mounted sound device.
Further, the process of generating the preset parking route includes:
in step S50, an intended parking position is determined in response to the parking assist instruction.
Specifically, in response to the parking assist instruction, an intended parking position is determined.
It should be noted that, when there is a parking demand, a driver may find a parking position through the parking assist function, where a function button corresponding to the parking assist function may be disposed on the vehicle-mounted terminal, the first device, or an entity button on the vehicle, and one or more parking positions may exist, when one parking position is located, the parking position is directly used as an intended parking position, and when a plurality of parking positions exist, the vehicle-mounted terminal or the first device lists parking positions for the driver, so that the driver may select one of the parking positions as the intended parking position.
It should be noted that, in order to further facilitate the driver to select the parking position, the related information indicating each parking position may be associated, for example, the nearest parking lot exit corresponding to the parking position (which is convenient for the user to leave and pick up the vehicle, such as the parking lot exit near the driver's home), whether there is another vehicle (which is convenient for the driver to open the door and drive out when the driver picks up the vehicle (which is inconvenient to use the function of automatically parking out of the parking space)), so that the driver can select the most suitable parking position as the intended parking position according to the related information.
Step S60, obtaining ambient environment information and preset vehicle information corresponding to the intended parking position, and generating a preset parking route based on the ambient environment information and the preset vehicle information.
Specifically, ambient environment information and preset vehicle information corresponding to an intended parking position are acquired, and a preset parking route is generated based on the ambient environment information and the preset vehicle information.
It should be noted that the ambient environment information corresponding to the intended parking position includes static and dynamic ones, for example, the static ambient environment information may include vehicles parked at other parking positions, building obstacles (such as pillars, corners, etc.), and the like; the dynamic ambient environment information may include pedestrians in a moving state, vehicles in a moving state, and the like. For static ambient environment information, when a preset parking route is generated, only the static ambient environment information needs to be bypassed, and for dynamic ambient environment information, because the dynamic ambient environment information is in a moving state, the dynamic ambient environment information has a certain moving speed. Preferably, for the dynamic ambient environment information, the motion state of the moving object corresponding to the dynamic ambient environment information may be monitored in real time to analyze whether the dynamic ambient environment information will become an obstacle of a preset parking route of the vehicle during the parking process.
For example, when the vehicle generates the preset parking route, it is expected that the movement of other vehicles is hindered in the parking process, and there exists an obstacle vehicle which is 50m away from the vehicle and has a movement speed of 5m/s around the vehicle, assuming that the obstacle vehicle is in constant motion, the time for the obstacle vehicle to move to the current position of the vehicle is 10s, and the expected parking completion time of the vehicle is 25s, at this time, the completion parking time is much longer than the time for the obstacle vehicle to move to the current position of the vehicle, and the process of generating the preset parking route can be considered as a generation factor, and the obtained preset parking route waits for 10s in place before parking. Optionally, the driver is reminded of the reason for generating the preset parking route through the first device, optionally, the reminding mode includes a voice reminding mode, a text reminding mode, a vibration reminding mode and the like, for example, the text reminding mode is that "a vehicle comes ahead".
The preset vehicle information is information that the vehicle may currently affect the generation of the preset parking route, for example, a traveling direction of the vehicle, a steering angle of the vehicle, and the like.
Further, the automatic parking method further includes:
step a10, continuously updating the ambient environment information.
Specifically, the ambient environment information is continuously updated during parking. It should be noted that, when parking, especially, when parking outdoors, the external environment is complex and changeable, if parking is performed only according to the preset parking route, it is unreasonable whether static ambient environment information or dynamic ambient environment information is used as the ambient environment information in the parking process only according to the ambient environment information generated when the preset parking route is generated, and besides the ambient environment information generated when the preset parking route is generated, the ambient environment information needs to be continuously updated in real time to prevent obstacles newly added in the parking process that affect parking from not being updated into the preset parking route. Therefore, the peripheral environment information is continuously updated, so that accidents of the vehicle and the updated peripheral environment information are prevented, and the safety in the parking process is improved.
For example, during parking, when another vehicle comes at a high speed, the host vehicle should determine its speed and the distance to the host vehicle in time when finding the other vehicle, and determine a specific coping scheme, for example, stopping parking to make a way for the other vehicle.
And step A20, if the updated ambient environment information meets the preset parking stopping condition, stopping the parking.
Specifically, if the updated ambient environment information satisfies a preset parking stop condition, parking is stopped. Specifically, the preset parking stop condition, that is, the updated ambient environment information, may become an obstacle in the parking process.
Further, the vehicle comprises an execution system, the execution system comprises one or more than one execution systems, and the automatic parking method further comprises the following steps:
step a30, the operating state of each execution system is detected.
Specifically, before and during parking, in order to ensure the safety of the vehicle and the safety during parking, the working state of each execution system is detected in real time to determine whether each execution system has an abnormality.
It should be noted that each execution system is a system corresponding to the control function, and is configured to execute a control instruction issued based on the control function.
Step A40, if the working state of one or more execution systems is abnormal, stopping parking.
Specifically, if there is an abnormality in the operating state of one or more execution systems (for example, the execution system cannot execute the operation corresponding to the control command or the execution system can execute the operation corresponding to the control command, but the operation is an abnormal operation), it indicates that there is a possibility of an accident occurring when parking continues, for example, during parking, the vehicle collides with another vehicle, and therefore, it is necessary to stop parking.
Further, the automatic parking method further includes:
step a50, in response to a parking stop instruction of the second device, stopping the parking.
Specifically, in response to a parking stop instruction of the second device, parking is stopped.
It should be noted that the second device is not the same as the first device, and since the first device is not a device dedicated for parking, for example, the function of the mobile phone is very complicated, when the parking-related APP is turned on, a large number of other APPs may be simultaneously operated, it is easy to understand that when the mobile phone is operated, due to the reason of hardware or software, the system is in a dead halt state, and thus the driver cannot issue a control instruction (e.g., stop parking) through the mobile phone during parking, which may cause a certain risk, for example, when a malfunction occurs during parking of the vehicle due to various reasons (e.g., the vehicle is not steered when the vehicle should be steered), the parking needs to be stopped to stop the movement of the vehicle, and at this time, since the mobile phone cannot issue a control instruction, the vehicle may collide with other obstacles (e.g., pillars).
Therefore, a device for emergency and capable of sending out a control instruction, such as a vehicle electronic key, needs to be provided for a situation where a driver cannot send out a control instruction through a mobile phone, and when the driver cannot send out the control instruction through the mobile phone, the driver can send out the control instruction through the vehicle electronic key, such as pressing any key on the vehicle electronic key.
Further, the automatic parking method further includes:
step A60, feeding back parking success information to the first device, so that the first device outputs reminding information corresponding to the parking success information.
Specifically, the parking success information is fed back to the first device, so that the first device outputs the reminding information corresponding to the parking success information.
It should be noted that the reminding message includes at least one of the following: voice prompt information, character prompt information and vibration prompt information. For example, the text reminder message is "parking successful".
The method comprises the steps of responding to a parking starting instruction sent by first equipment, obtaining in-vehicle personnel condition information, and determining whether the in-vehicle personnel condition information meets a preset parking condition; if so, taking over the control function of the vehicle; and acquiring a preset parking route, and parking the vehicle based on the preset parking route and the control function. After the parking starting instruction sent by the first device is responded, the condition information of the people in the vehicle is automatically acquired, and when the condition information of the people in the vehicle meets the preset parking condition, the control function of the vehicle is taken over and the preset parking route is acquired to park. The injury to the personnel still remaining in the vehicle is avoided in the parking process, and the use safety of the automatic parking function of the vehicle is further improved.
In addition, referring to fig. 2, an embodiment of the present invention further provides an automatic parking system, where the automatic parking system includes an advanced driving assistance system, a user connection unit, and a first device, and the first device and the advanced driving assistance system interact with each other through the user connection unit.
Specifically, the driver establishes a connection with a UCU (User connection Unit) of the vehicle through an APP on the first device, and the connection mode may be a connection through a bluetooth module. After receiving an instruction issued by the APP (for example, when a driver selects to enter a "one-key parking function" on the APP), the UCU converts the instruction into a CAN (Controller Area Network) communication signal and sends the CAN communication signal to a decision System of an automatic parking System, namely, an ADAS (Advanced Driving Assistance System), so as to realize interaction between the first device and the ADAS and enable the ADAS to enter a parking preparation state.
Specifically, the automatic parking system further comprises an environment sensing system, the environment sensing system comprises one or more ultrasonic radars, corresponding ultrasonic radar controllers and one or more all-around cameras, in order to ensure that 360-degree all-around vision can be achieved, four all-around cameras are at least arranged on the periphery of the vehicle body of the vehicle, and are responsible for 90-degree areas around the vehicle body, preferably, the all-around cameras are arranged at all corners of the vehicle body, so that 360-degree all-around vision without dead angles is achieved. The all-round looking camera transmits data to the ADAS through a video line, the ultrasonic radar and the ultrasonic radar controller are interacted through a low-voltage wire harness, and the ultrasonic radar controller and the ADAS are interacted through a CAN.
It should be noted that, when the vehicle enters the parking preparation state, the ADAS needs to lock an intended parking position and collect surrounding environment information through the environment sensing system, and plan a preset parking route in combination with the vehicle information at this time.
Further, the automatic parking system further comprises a vehicle body controller for receiving a control instruction sent by the second device.
Specifically, the automatic parking system further includes a BCM (Body Controlled Model) for receiving the control command sent by the second device, and the BCM may forward the control command to the ADAS.
It should be noted that the vehicle body controller belongs to an execution system of an automatic parking system, and the execution system further includes an electronic braking system, an electronic power steering system, a vehicle control unit, an electronic parking braking system and a vehicle body electronic stability control system, and the execution system is configured to send corresponding state information or a control instruction of a driver to the ADAS, so that the ADAS makes a corresponding decision, and receives the control instruction sent by the ADAS, and executes the control instruction, thereby implementing control of the vehicle. And each execution system realizes interaction between the CAN and the ADAS, and the UCU also transmits data to the BCM through the CAN.
In addition, the automatic parking system further comprises an interactive system, which comprises a meter, a vehicle-mounted terminal and a vehicle electronic key besides the UCU, and is used for displaying parking related information (such as parking position information), a parking state, feeding back the state to a driver and sending control operation of the driver to the ADAS in the form of instructions. For example, a driver needs to stop parking urgently during parking, a control signal can be sent to a vehicle body controller through a vehicle electronic key, the vehicle body controller forwards the control signal to the ADAS, and the ADAS outputs a corresponding control signal to an execution system based on the control signal, so that the purpose of stopping parking is achieved. The ADAS transmits data (such as vehicle speed information) to the instrument through the video line or the CAN, and the UCU and the vehicle-mounted terminal realize interaction with the ADAS through the CAN.
Furthermore, the ADAS of the present invention is programmed to implement the steps of the method for automatic parking according to the present invention.
Furthermore, an embodiment of the present invention further provides a computer-readable storage medium, in which an automatic parking program is stored, and the automatic parking program, when executed by a processor, implements the steps of the automatic parking method described above.
The specific implementation of the computer-readable storage medium of the present invention is substantially the same as the embodiments of the automatic parking method described above, and will not be described herein again.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solutions of the present invention may be embodied in the form of a software product, which is stored in a storage medium (such as ROM/RAM, magnetic disk, optical disk) and includes instructions for enabling a terminal device (such as a mobile phone, a computer, a server, a device, or a network device) to execute the method according to the embodiments of the present invention.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. An automatic parking method, characterized by comprising the steps of:
responding to a parking starting instruction sent by first equipment, obtaining in-vehicle personnel condition information, and determining whether the in-vehicle personnel condition information meets a preset parking condition;
if so, taking over the control function of the vehicle;
and acquiring a preset parking route, and parking the vehicle based on the preset parking route and the control function.
2. The automatic parking method according to claim 1, wherein the determining whether the in-vehicle occupant condition information satisfies a preset parking condition further comprises:
and if the information of the condition of the people in the vehicle does not meet the preset parking condition, outputting corresponding prompt information to the first equipment.
3. The automatic parking method according to claim 1, further comprising: the process of generating the preset parking route specifically includes:
determining an intended parking position in response to the auxiliary parking instruction;
and acquiring surrounding environment information and preset vehicle information corresponding to the intended parking position, and generating a preset parking route based on the surrounding environment information and the preset vehicle information.
4. The automatic parking method according to claim 3, further comprising:
continuously updating the surrounding environment information;
and stopping parking if the updated ambient environment information meets the preset parking stopping condition.
5. The automatic parking method according to claim 1, wherein the vehicle includes an execution system including one or more, the automatic parking method further comprising:
detecting the working state of each execution system;
and stopping parking if the working state of one or more execution systems is abnormal.
6. The automatic parking method according to claim 1, further comprising:
stopping the parking in response to a parking stop instruction of the second device.
7. The automatic parking method according to claim 1, further comprising:
and feeding back parking success information to the first device so that the first device outputs reminding information corresponding to the parking success information.
8. An automatic parking system is characterized by comprising an advanced driving assistance system, a user connection unit and a first device, wherein the first device and the advanced driving assistance system interact through the user connection unit.
9. The automatic parking system according to claim 8, further comprising a vehicle body controller for receiving the control instruction transmitted from the second device.
10. A computer-readable storage medium, characterized in that the computer-readable storage medium has stored thereon an automatic parking program which, when executed by a processor, implements the steps of the automatic parking method according to any one of claims 1 to 7.
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| CN202010593779.8A CN112158191A (en) | 2020-06-24 | 2020-06-24 | Automatic parking method, system and readable storage medium |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113276861A (en) * | 2021-06-21 | 2021-08-20 | 上汽通用五菱汽车股份有限公司 | Vehicle control method, vehicle control system, and storage medium |
| CN113359560A (en) * | 2021-06-16 | 2021-09-07 | 一汽奔腾轿车有限公司 | Remote control parking system and method based on CAN |
| CN114506383A (en) * | 2022-02-23 | 2022-05-17 | 奇瑞汽车股份有限公司 | Steering wheel aligning control method, device, terminal, storage medium and product |
| CN114537514A (en) * | 2022-03-10 | 2022-05-27 | 福思(杭州)智能科技有限公司 | EPS system control method, system, equipment and storage medium |
| CN114852061A (en) * | 2022-05-17 | 2022-08-05 | 上海安亭地平线智能交通技术有限公司 | Parking method, parking device, electronic equipment and storage medium |
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