CN112172792A - Fixed parking space parking method and device, vehicle and storage medium - Google Patents
Fixed parking space parking method and device, vehicle and storage medium Download PDFInfo
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- CN112172792A CN112172792A CN202010969018.8A CN202010969018A CN112172792A CN 112172792 A CN112172792 A CN 112172792A CN 202010969018 A CN202010969018 A CN 202010969018A CN 112172792 A CN112172792 A CN 112172792A
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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 a fixed parking space parking method and device, a vehicle and a storage medium, and belongs to the field of intelligent driving. The fixed parking space parking method can identify whether the moving body reaches a common getting-off place or not according to the current position of the moving body, and after the moving body is at the common getting-off place, the moving body can be controlled to automatically move from the current position to the parking target position according to the parking path for marking the parking starting position and the parking target position, so that the moving body can be automatically parked in the fixed parking space according to the parking path after reaching the common getting-off place, and the experience effect of a user is improved.
Description
Technical Field
The invention relates to the field of intelligent driving, in particular to a fixed parking space parking method, a fixed parking space parking device, a fixed parking space parking vehicle and a storage medium.
Background
Vehicles are a means of transportation, and are receiving continuous attention at present when road traffic is more and more developed and urban areas are more and more enlarged. Various technologies are being developed for use in vehicles, and one of them is a driving assistance control technology. The driving auxiliary control technology can assist or replace a driver to operate the vehicle in a specific scene, and the comfort of the vehicle is improved.
The automatic parking control technology is one of the driving assistance control technologies which are commonly applied to vehicles at present, and measures the distance and the angle between the vehicle and surrounding obstacles through an ultrasonic probe distributed around the vehicle body, and then calculates the driving track required by the vehicle to park in/out of a parking space through a semi-automatic parking control unit. The automatic parking control technology can assist driving when backing a car, and guides a driver through detecting ultrasonic waves or a camera, so that traffic accidents caused by the fact that the rear of a vehicle is in a sight blind area when backing the car are avoided. However, although the conventional automatic parking control technology supports the automatic parking function, it cannot realize the function of automatically recognizing a fixed parking space and parking the vehicle.
Disclosure of Invention
Aiming at the problem that the existing automatic parking control method cannot realize automatic identification of the fixed parking space and parking, the fixed parking space parking method, the fixed parking space parking device, the vehicle and the storage medium which aim at automatically identifying the fixed parking space and parking are provided.
The invention provides a fixed parking space parking method, which comprises the following steps:
acquiring the current position of a moving body;
detecting whether the current position meets a first preset condition or not;
and if the current position meets the first preset condition, controlling the moving body to move from the current position to the parking target position according to a preset parking starting position and a parking path of the parking target position.
Optionally, the first preset condition is any one of the following conditions:
the current position is the parking starting position;
the distance between the current position and the parking starting position is within a preset range.
Optionally, the obtaining of the current position of the moving object further includes:
and recording the parking path.
Optionally, recording the parking path includes:
the mobile body receives a recording request at the parking starting position;
according to the recording request, a parking path of the moving body moving from the parking starting position to the parking target position is recorded.
Optionally, recording a parking path of the moving body moving from the parking start position to the parking target position according to the recording request includes:
controlling the moving body to move from the parking starting position to the parking target position in a manual parking mode according to the recording request, and recording the parking starting position and the parking path of the parking target position, or
And controlling the moving body to move from the parking starting position to the parking target position by adopting an automatic parking mode according to the recording request, and recording the parking starting position and the parking path of the parking target position.
Optionally, according to the recording request, controlling the moving body to move from the parking start position to the parking target position in a manual parking mode, and recording the parking path that identifies the parking start position and the parking target position, includes:
controlling the moving body to move from the parking starting position to the parking target position in a manual parking mode according to the recording request so as to generate an initial path;
recording an auxiliary image when the moving body moves by adopting a parking auxiliary device;
and acquiring an obstacle target position in an initial path according to the auxiliary image, and correcting the initial path according to the parking starting position, the parking target position and the obstacle target position to generate the parking path.
The invention also provides a parking device with fixed parking spaces, which comprises:
an acquisition unit configured to acquire a current position of the mobile body;
the detection unit is used for detecting whether the current position meets a first preset condition or not;
and the execution unit is used for controlling the moving body to move from the current position to the parking target position according to a preset parking starting position and a parking path of the parking target position when the current position meets the first preset condition.
Optionally, the first preset condition is any one of the following conditions:
the current position is the parking starting position;
the distance between the current position and the parking starting position is within a preset range.
Optionally, the method further includes:
and the recording unit is used for recording the parking path.
Optionally, the recording unit includes:
the receiving module is used for receiving a recording request;
and the processing module is used for recording a parking path of the moving body moving from the parking starting position to the parking target position according to the recording request.
Optionally, the processing module is configured to control the moving object to move from the parking starting position to the parking target position in a manual parking mode according to the recording request, and record the parking path that indicates the parking starting position and the parking target position, or
The processing module is used for controlling the moving body to move from the parking starting position to the parking target position in an automatic parking mode according to the recording request, and recording the parking starting position and the parking path of the parking target position.
Optionally, the processing module is configured to control the moving object to move from the parking start position to the parking target position in a manual parking mode according to the recording request, so as to generate an initial path; recording an auxiliary image when the moving body moves by adopting a parking auxiliary device; and acquiring an obstacle target position in an initial path according to the auxiliary image, and correcting the initial path according to the parking starting position, the parking target position and the obstacle target position to generate the parking path.
The invention also provides a vehicle comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the steps of the above method when executing the computer program.
The invention also provides a computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the above-mentioned method.
The invention provides a fixed parking space parking method, a fixed parking space parking device, a vehicle and a storage medium, which can identify whether a moving body reaches a common getting-off place or not according to the current position of the moving body, and can control the moving body to automatically move from the current position to a parking target position according to a parking path for marking a parking starting position (the common getting-off place) and a parking target position (a fixed parking space) after the moving body is at the common getting-off place, so that the moving body can automatically park in the fixed parking space according to the parking path after the moving body reaches the common getting-off place, and the experience effect of a user is improved.
Drawings
Fig. 1 is a flowchart illustrating a fixed-parking space parking method according to an embodiment of the present invention;
fig. 2 is a flowchart illustrating a fixed-parking-space parking method according to a second embodiment of the present invention;
FIG. 3 is a flow chart of one embodiment of recording parking paths in accordance with the present invention;
FIG. 4 is a flowchart illustrating an embodiment of controlling the movement of the mobile object and recording the parking path in the manual parking mode according to the present invention;
FIG. 5 is a block diagram of one embodiment of a fixed-spot parking apparatus according to the present invention;
FIG. 6 is a block diagram of another embodiment of a fixed-spot parking apparatus according to the present invention;
FIG. 7 is a block diagram of the recording unit according to the present invention;
fig. 8 is a hardware architecture diagram of one embodiment of a vehicle of the present invention.
Detailed Description
The advantages of the invention are further illustrated in the following description of specific embodiments in conjunction with the accompanying drawings.
Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the exemplary embodiments below are not intended to represent all implementations consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present disclosure, as detailed in the appended claims.
The terminology used in the present disclosure is for the purpose of describing particular embodiments only and is not intended to be limiting of the disclosure. As used in this disclosure and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items.
It is to be understood that although the terms first, second, third, etc. may be used herein to describe various information, such information should not be limited to these terms. These terms are only used to distinguish one type of information from another. For example, first information may also be referred to as second information, and similarly, second information may also be referred to as first information, without departing from the scope of the present disclosure. The word "if" as used herein may be interpreted as "at … …" or "when … …" or "in response to a determination", depending on the context.
In the description of the present invention, it should be understood that the numerical references before the steps do not identify the order of performing the steps, but merely serve to facilitate the description of the present invention and to distinguish each step, and thus should not be construed as limiting the present invention.
The moving body of the embodiment of the invention can adopt new energy vehicles such as pure electric vehicles, hybrid electric vehicles and the like, and the moving body can be provided with a Parking controller, an Automatic Parking Assist (APA) and an HMI interactive device. Among them, the parking controller is implemented using a microcomputer including a Central Processing Unit (CPU), a communication unit, a memory, and an Electronic Power Steering (EPS). The parking controller installs a computer program for causing a microcomputer to have a function as an on-vehicle computer (ECU) in the microcomputer to execute. The parking controller has a function of controlling the operation of the mobile body. The communication unit can comprise a WiFi module, a Bluetooth module and the like, can support 4G and 5G communication modes, and can be used for communicating with an associated mobile terminal; the parking assistance apparatus includes a plurality of ultrasonic radars that can be provided at positions such as a front bumper, a rear bumper, and a skin near a tire of the moving body, and a surrounding camera. The distance between the moving body and the obstacle target is detected by the ultrasonic radar moving body. The surrounding cameras are arranged around the moving body, images around the moving body are collected through the surrounding cameras, the images collected by the cameras are combined, a full-angle visual image overlooked from the upper side of the moving body is obtained, and the cameras cannot shoot vehicles, so that the vehicle icons are adopted to replace actual images of the vehicles in the panoramic image. The HMI interaction device may include a display unit and an audio acquisition unit. The display unit is provided with a touch screen (central control screen) for inputting various control operations on the vehicle. The audio acquisition unit is arranged in the mobile body and is used for adopting the voice signal of the user so as to execute corresponding operation based on the voice signal.
The fixed parking space parking method, the fixed parking space parking device, the vehicle and the storage medium can be applied to a scene that a moving body arrives at a common getting-off place (such as downstairs of a company, doorways of a house, the vicinity of a fixed parking space of the company, the vicinity of a fixed parking space of a district/house and the like), and the moving body can be automatically parked into the fixed parking space from the common getting-off place.
In the embodiment of the invention, a user can send a control request (such as a recording request, a fixed area parking request and the like) to the communication unit of the mobile body through the mobile terminal associated with the mobile body, the user can also directly input the control request on the central control screen of the mobile body, and the user can also input the control request through voice. The method can identify whether the moving body reaches a common getting-off place or not according to the current position of the moving body, and after the moving body is at the common getting-off place, the moving body can be controlled to automatically move from the current position to the parking target position according to the parking path for marking the parking starting position (the common getting-off place) and the parking target position (the fixed parking space).
Example one
Referring to fig. 1, a parking method for a fixed parking space of the present embodiment may include the following steps:
s1, acquiring the current position of the moving body.
In this step, the current position can be obtained by using a positioning unit (e.g., a GPS module) inside the mobile body. In the process of positioning the current position of the mobile body: the body (vehicle body) of the moving body can be used as a basis, the 2m range can be quickly positioned, the repositioning time is less than 1s, and the error range of the vehicle body attitude angle of the moving body is between 7.5 and 22.5 degrees.
And S2, detecting whether the current position meets a first preset condition.
Wherein the first preset condition is any one of the following conditions:
the current position is the parking starting position;
the distance between the current position and the parking starting position is within a preset range (for example, the distance is 2m or 5m from the parking starting position). Wherein the preset range can be between 0m and 10 m.
It should be noted that: the parking start position is a position of a frequently used get-off point of the user, and the parking start position is near a parking target position (fixed parking space), for example: the parking start position may be between 2m and 100m from the parking target position. Further, the current position of the moving object may be compared with the parking start position, and whether the comparison result meets the first preset condition is determined, if yes, step S3 is executed; if not, the process returns to step S1.
Specifically, the current position coordinate of the moving body and the parking start position coordinate may be subtracted, and whether the calculation result meets the first preset condition or not may be determined.
In the step, whether the mobile body reaches the position near a common getting-off place or not can be judged by detecting whether the current position of the mobile body meets a first preset condition or not, so that a parking mode of a fixed area is started, the complex operation of man-machine interaction is reduced, and the efficiency of parking in the fixed area and the user experience effect are improved.
And S3, if the current position meets the first preset condition, controlling the moving body to move from the current position to the parking target position according to a preset parking starting position and a parking path of the parking target position.
In this embodiment, the moving body can move from the current position to the parking target position at a constant speed (e.g., 5kph), and the moving body can automatically turn on and off the turn signal lamp and the brake lamp according to the steering wheel angle and the deceleration state. In an emergency, the user can bring the mobile body into a suspended state by an operation of pulling a door of the mobile body or opening the door.
In an embodiment, when the current position meets the first preset condition, step S3 may further include:
the method comprises the steps of generating a prompt for starting a fixed area parking mode, enabling a user to hang a parking gear, sending a message responding to the prompt to a moving body through a mobile terminal associated with the moving body, starting the fixed area parking mode after the moving body receives the response message, and controlling the moving body to park from the current position to a parking target position through an electronic power steering mechanism according to a parking path, so that the user can get off in advance at a common getting-off place (such as a residential gate/downstairs and a company downstairs), the moving body can be automatically parked in a fixed parking space, and the walking distance of the user is reduced.
When an abnormal condition occurs in the process that the mobile body moves from the current position to the parking target position, the user can send out a control request for suspending or canceling the parking process through the mobile terminal. The mobile terminal can keep a communication state with a communication unit of the mobile body through 4G/5G, and the mobile terminal can adopt a similar heart keep-alive algorithm to ensure continuous connection with the mobile body so as to meet the monitoring requirement of a user.
In another embodiment, when the current position meets the first preset condition, step S3 may further include:
and generating a prompt for starting the fixed area parking mode, wherein a user can send a message responding to the prompt, starting the fixed area parking mode after the mobile body receives the response message, and controlling the mobile body to park from the current position to the parking target position through an electronic power steering (EPB) mechanism according to the parking path, so that the operation of the user is reduced, and the experience of the user is improved.
In the process that the moving body moves from the current position to the parking target position, if the moving body has a fault related to a parking system, the fixed area parking mode is exited, the electronic power steering mechanism is pulled up, a parking gear (P gear) is hung back, the double flashing lamps are lightened, and an abnormal state is reported to a user.
As an example and not by way of limitation, in the process that the moving body moves from the current position to the parking target position, collision detection needs to be performed on obstacles around the moving body, when dangerous obstacles appear, the moving body is actively braked and enters a pause state, timing is performed for a preset time period (such as 30s), if the danger is still present after 30s, the P gear is hung back, the EPB is pulled up, the fixed area parking mode is exited, the double-flash lamps are lightened, and an abnormal state is reported and sent to the mobile terminal for display; and if the danger disappears within 30s, the double-flashing light is turned off, and the fixed area parking mode is continued.
In this embodiment, whether the moving body reaches a frequently-used getting-off place or not can be identified according to the current position of the moving body, and after the moving body is at the frequently-used getting-off place, the moving body can be controlled to automatically move from the current position to the parking target position according to the parking path for identifying the parking starting position (the frequently-used getting-off place) and the parking target position (the fixed parking space).
Example two
Before the mobile body is controlled to park in the fixed parking space by self by adopting the parking path, the parking path needs to be learned and recorded. Referring to fig. 2, a parking method for a fixed parking space of the present embodiment may include the following steps:
A. and recording the parking path.
Further, step a shown in fig. 3 may include the following steps:
A1. the mobile body receives a recording request at the parking start position.
In this embodiment, a user needs to trigger a recording request at a parking start position (a frequently-used getting-off point), the user can trigger the recording request through a button arranged on a moving body, the recording request can be directly input on a central control screen of the moving body, and the recording request can be input by the user through voice.
A2. According to the recording request, a parking path of the moving body moving from the parking starting position to the parking target position is recorded.
In this embodiment, in the process of recording the parking path along which the moving object moves from the parking start position to the parking target position, a manual parking mode or an automatic parking mode may be adopted, and the user may select the parking path according to the need.
It should be noted that: the parking target position is a parking space with a mark number or a parking space with a definite position.
In one embodiment, when recording the parking path in the manual parking mode, step a2 shown in fig. 4 may include: and controlling the moving body to move from the parking starting position to the parking target position by adopting a manual parking mode according to the recording request, and recording the parking starting position and the parking path of the parking target position.
Specifically, when recording the parking path in the manual parking mode, referring to step a2 shown in fig. 4 may include the steps of:
A21. and controlling the moving body to move from the parking starting position to the parking target position in a manual parking mode according to the recording request so as to generate an initial path.
A22. And recording an auxiliary image when the moving body moves by adopting the parking auxiliary device.
After receiving the recording request, a camera of a parking assistance device installed on the moving body can be triggered to acquire images around the moving body, surrounding obstacle targets (such as columns, isolation belts and the like near parking spaces) in the moving process of the moving body are detected through an ultrasonic radar in the parking assistance device, and an initial path of the moving body controlled by a user to move from a parking starting position to a parking target position and an auxiliary image when the moving body moves are recorded. The auxiliary image is used for identifying an image of an initial path of the moving body moving from the parking starting position to the parking target position.
A23. And acquiring an obstacle target position in an initial path according to the auxiliary image, and correcting the initial path according to the parking starting position, the parking target position and the obstacle target position to generate the parking path.
And in the moving process of the moving body, marking the obstacle target position detected by the ultrasonic radar in the auxiliary image, and correcting the initial path according to the parking target position and the obstacle target position so as to shorten the length of the simplified path and generate the parking path. When the moving object is parked at the parking target position, the moving object can be switched to the parking range as an instruction for ending the path learning. The vehicle speed during recording of the parking path may be limited to within 10 kph.
In another embodiment, when the parking path is recorded in the auto park mode, step a2 may include: and controlling the moving body to move from the parking starting position to the parking target position by adopting an automatic parking mode according to the recording request, and recording the parking starting position and the parking path of the parking target position.
After receiving a recording request, an APA (advanced persistent Access) parking place searching mode can be started, images around a moving body are collected through a camera in a parking assisting device installed on the moving body, and a full-angle visual image of the moving body is generated; detecting an obstacle target of the moving body within a preset range through an ultrasonic radar in the parking assist device; identifying and marking idle parking spaces based on the position of an obstacle target in the full-angle visual image to form the auxiliary image; taking the free parking space selected by the user in the displayed auxiliary image as a parking target position; and controlling the moving body to park in the parking target position, and recording a parking path of the moving body during parking in the parking target position from the parking starting position. When the APA is adopted to search the parking space mode to park the moving body into the parking target position, the parking space mode can be switched into a parking space (P space) to serve as a path learning finishing instruction, a prompt message of successful parking is reported, and the moving body can be automatically powered off and enters a dormant state.
By way of example and not limitation, the parking route recorded in the present embodiment may be any one of the following route behaviors:
straight line → turn → vehicle head enters parking target position;
straight → turn → dump to parking target location;
backing up → turning → pouring into a parking target position; straight walking → backing → turning → pouring into a parking target position;
backing → going straight → turning → pouring into the parking target location.
S1, acquiring the current position of the moving body.
And S2, detecting whether the current position meets a first preset condition.
And S3, if the current position meets the first preset condition, controlling the moving body to move from the current position to the parking target position according to a preset parking starting position and a parking path of the parking target position.
EXAMPLE III
Referring to fig. 5, a parking device 1 with fixed parking spaces of the present embodiment may include: an acquisition unit 11, a detection unit 12 and an execution unit 13.
An acquisition unit 11 for acquiring a current position of the mobile body.
In this step, the current position can be obtained by using a positioning unit (e.g., a GPS module) inside the mobile body. In the process of positioning the current position of the mobile body: the body (vehicle body) of the moving body can be used as a basis, the 2m range can be quickly positioned, the repositioning time is less than 1s, and the error range of the vehicle body attitude angle of the moving body is between 7.5 and 22.5 degrees.
The detecting unit 12 is configured to detect whether the current position meets a first preset condition.
The first preset condition is any one of the following conditions:
the current position is the parking starting position;
the distance between the current position and the parking starting position is within a preset range.
Further, the detecting unit 12 may compare the current position of the mobile body with the parking start position, and determine whether the comparison result meets the first preset condition.
Specifically, the detection unit 12 may subtract the current position coordinate of the moving body from the parking start position coordinate, and determine whether the calculation result meets the first preset condition.
In the embodiment, whether the mobile body reaches the position near a common getting-off place or not can be judged by detecting whether the current position of the mobile body meets the first preset condition or not, so that a parking mode of a fixed area can be started, the complex operation of man-machine interaction is reduced, and the efficiency of parking in the fixed area and the user experience effect are improved.
And the execution unit 13 is configured to, when the current position meets the first preset condition, control the moving body to move from the current position to the parking target position according to a preset parking starting position and a parking path of the parking target position.
In this embodiment, the moving body can move from the current position to the parking target position at a constant speed, and the moving body can automatically turn on and off the turn signal lamp and the brake lamp according to the steering wheel angle and the deceleration state. In an emergency, the user can bring the mobile body into a suspended state by an operation of pulling a door of the mobile body or opening the door.
In an embodiment, when the current location meets the first preset condition, the execution unit 13 may be configured to generate a prompt that may start a fixed-area parking mode, where a user may hang a parking gear, send a message responding to the prompt to the mobile body through a mobile terminal associated with the mobile body, and after the mobile body receives the response message, start the fixed-area parking mode, and control the mobile body to park from the current location to a parking target location according to a parking path through an electronic power steering mechanism, so that the user may get off in advance at a commonly used getting-off location (e.g., a residential gate/downstairs, or a company downstairs), so that the mobile body may automatically park in a fixed parking space, and reduce a walking path of the user.
In another embodiment, when the current location meets the first preset condition, the execution unit 13 may be configured to generate a prompt that may start a fixed-area parking mode, where the user may send a message responding to the prompt, and after receiving the response message, the mobile body starts the fixed-area parking mode, and controls the mobile body to park from the current location to a parking target location according to a parking path through an electronic power steering (EPB), so as to reduce operations of the user and improve user experience.
In a preferred embodiment, the fixed-spot parking apparatus 1 shown in fig. 6 may further include: a recording unit 14.
And the recording unit 14 is used for recording the parking path.
Further, the recording unit 14 shown in fig. 7 includes: a receiving module 141 and a processing module 142.
The receiving module 141 is configured to receive a recording request.
In this embodiment, a user needs to trigger a recording request at a parking start position (a frequently-used getting-off point), the user can trigger the recording request through a button arranged on a moving body, the recording request can be directly input on a central control screen of the moving body, and the recording request can be input by the user through voice.
And the processing module 142 is configured to record a parking path of the moving body moving from the parking start position to the parking target position according to the recording request.
In this embodiment, in the process of recording the parking path along which the moving object moves from the parking start position to the parking target position, a manual parking mode or an automatic parking mode may be adopted, and the user may select the parking path according to the need.
In an embodiment, the processing module 142 is configured to control the moving body to move from the parking start position to the parking target position in a manual parking mode according to the recording request, and record the parking path that indicates the parking start position and the parking target position.
In this embodiment, the processing module 142 is configured to control the moving object to move from the parking start position to the parking target position in a manual parking mode according to the recording request, so as to generate an initial path; recording an auxiliary image when the moving body moves by adopting a parking auxiliary device; and acquiring an obstacle target position in an initial path according to the auxiliary image, and correcting the initial path according to the parking starting position, the parking target position and the obstacle target position to generate the parking path.
And in the moving process of the moving body, marking the obstacle target position detected by the ultrasonic radar in the auxiliary image, and correcting the initial path according to the parking target position and the obstacle target position so as to shorten the length of the simplified path and generate the parking path. When the moving object is parked at the parking target position, the moving object can be switched to the parking range as an instruction for ending the path learning. The vehicle speed during recording of the parking path may be limited to within 10 kph.
In another embodiment, the processing module 142 is configured to control the moving body to move from the parking start position to the parking target position in an automatic parking mode according to the recording request, and record the parking path that indicates the parking start position and the parking target position.
After receiving a recording request, an APA (advanced persistent Access) parking place searching mode can be started, images around a moving body are collected through a camera in a parking assisting device installed on the moving body, and a full-angle visual image of the moving body is generated; detecting an obstacle target of the moving body within a preset range through an ultrasonic radar in the parking assist device; identifying and marking idle parking spaces based on the position of an obstacle target in the full-angle visual image to form the auxiliary image; taking the free parking space selected by the user in the displayed auxiliary image as a parking target position; and controlling the moving body to park in the parking target position, and recording a parking path of the moving body during parking in the parking target position from the parking starting position. After the APA is adopted to search the parking space mode to park the moving body into the parking target position, the moving body can be switched into a parking gear to serve as a command for finishing path learning, a prompt message of successful parking is reported, and the moving body can be automatically powered off and enters a dormant state.
Example four
In order to achieve the above object, the present invention further provides a vehicle 2, where the vehicle 2 of the present embodiment at least includes, but is not limited to: the parking system comprises a memory 21, a processor 23, a network interface 22 and the fixed parking space parking device 1 (refer to fig. 8) which can be mutually connected through a system bus in a communication mode. It should be noted that fig. 8 only shows the vehicle 2 with components, but it should be understood that not all of the shown components are required to be implemented, and that more or fewer components may be implemented instead.
In this embodiment, the memory 21 includes at least one type of computer-readable storage medium, which includes a flash memory, a hard disk, a multimedia card, a card-type memory (e.g., SD or DX memory, etc.), a Random Access Memory (RAM), a Static Random Access Memory (SRAM), a Read Only Memory (ROM), an Electrically Erasable Programmable Read Only Memory (EEPROM), a Programmable Read Only Memory (PROM), a magnetic memory, a magnetic disk, an optical disk, and the like. In some embodiments, the storage 21 may be an internal storage unit of the vehicle 2, such as a hard disk or a memory of the vehicle 2. In other embodiments, the memory 21 may be an external storage device of the vehicle 2, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), or the like, provided on the vehicle 2. Of course, the memory 21 may also comprise both an internal storage unit of the vehicle 2 and an external storage device thereof. In this embodiment, the memory 21 is generally used to store an operating system installed in the vehicle 2 and various types of application software, such as program codes of the fixed-parking methods in the first embodiment and the second embodiment. Further, the memory 21 may also be used to temporarily store various types of data that have been output or are to be output.
The processor 23 may be a Central Processing Unit (CPU), a controller, a microcontroller, a microprocessor, or other data Processing chip in some embodiments. The processor 23 is generally used to control the overall operation of the vehicle 2, such as performing control and processing related to data interaction or communication with the vehicle 2. In this embodiment, the processor 23 is configured to operate the program codes or process data stored in the memory 21, for example, operate the fixed-parking device 1.
The network interface 22 may comprise a wireless network interface or a wired network interface, and the network interface 22 is typically used to establish communication connections between the vehicle 2 and other vehicles 2. For example, the network interface 22 is used to connect the vehicle 2 with an external terminal through a network, establish a data transmission channel and a communication connection between the vehicle 2 and the external terminal, and the like. The network may be a wireless or wired network such as an Intranet (Intranet), the Internet (Internet), a Global System of Mobile communication (GSM), Wideband Code Division Multiple Access (WCDMA), a 4G network, a 5G network, Bluetooth (Bluetooth), Wi-Fi, and the like.
It should be noted that fig. 8 only shows the vehicle 2 with components 21-23, but it should be understood that not all of the shown components are required to be implemented, and that more or fewer components may be implemented instead.
In this embodiment, the fixed-parking space parking device 1 stored in the memory 21 may be further divided into one or more program modules, and the one or more program modules are stored in the memory 21 and executed by one or more processors (in this embodiment, the processor 23) to complete the present invention.
EXAMPLE five
To achieve the above objects, the present invention also provides a computer-readable storage medium including a plurality of storage media such as a flash memory, a hard disk, a multimedia card, a card type memory (e.g., SD or DX memory, etc.), a Random Access Memory (RAM), a Static Random Access Memory (SRAM), a Read Only Memory (ROM), an Electrically Erasable Programmable Read Only Memory (EEPROM), a Programmable Read Only Memory (PROM), a magnetic memory, a magnetic disk, an optical disk, a server, an App application store, etc., on which a computer program is stored, which when executed by the processor 23, implements corresponding functions. The computer-readable storage medium of the present embodiment is used for storing the fixed-parking space parking device 1, and when being executed by the processor 23, the computer-readable storage medium implements the fixed-parking space parking method of the first embodiment and the second embodiment.
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.
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 (14)
1. A fixed-parking space parking method is characterized by comprising the following steps:
acquiring the current position of a moving body;
detecting whether the current position meets a first preset condition or not;
and if the current position meets the first preset condition, controlling the moving body to move from the current position to the parking target position according to a preset parking starting position and a parking path of the parking target position.
2. A fixed-spot parking method according to claim 1 wherein the first predetermined condition is any one of the following conditions:
the current position is the parking starting position;
the distance between the current position and the parking starting position is within a preset range.
3. The fixed-parking space parking method according to claim 1, wherein obtaining the current position of the moving body further comprises:
and recording the parking path.
4. A fixed-parking space parking method as recited in claim 3 wherein recording said parking path comprises:
the mobile body receives a recording request at the parking starting position;
according to the recording request, a parking path of the moving body moving from the parking starting position to the parking target position is recorded.
5. The fixed-parking space parking method according to claim 3 or 4, wherein recording a parking path along which the moving body moves from the parking start position to the parking target position according to the recording request includes:
controlling the moving body to move from the parking starting position to the parking target position in a manual parking mode according to the recording request, and recording the parking starting position and the parking path of the parking target position, or
And controlling the moving body to move from the parking starting position to the parking target position by adopting an automatic parking mode according to the recording request, and recording the parking starting position and the parking path of the parking target position.
6. The fixed-parking space parking method according to claim 5, wherein controlling the moving body to move from the parking start position to the parking target position in a manual parking mode according to the recording request, and recording the parking path that identifies the parking start position and the parking target position comprises:
controlling the moving body to move from the parking starting position to the parking target position in a manual parking mode according to the recording request so as to generate an initial path;
recording an auxiliary image when the moving body moves by adopting a parking auxiliary device;
and acquiring an obstacle target position in an initial path according to the auxiliary image, and correcting the initial path according to the parking starting position, the parking target position and the obstacle target position to generate the parking path.
7. A fixed-stall parking device, comprising:
an acquisition unit configured to acquire a current position of the mobile body;
the detection unit is used for detecting whether the current position meets a first preset condition or not;
and the execution unit is used for controlling the moving body to move from the current position to the parking target position according to a preset parking starting position and a parking path of the parking target position when the current position meets the first preset condition.
8. A fixed-spot parking apparatus according to claim 7 wherein the first predetermined condition is any one of the following conditions:
the current position is the parking starting position;
the distance between the current position and the parking starting position is within a preset range.
9. A fixed-spot parking apparatus according to claim 7 further comprising:
and the recording unit is used for recording the parking path.
10. A fixed-spot parking apparatus according to claim 9 wherein said recording unit comprises:
the receiving module is used for receiving a recording request;
and the processing module is used for recording a parking path of the moving body moving from the parking starting position to the parking target position according to the recording request.
11. The fixed-parking space parking device according to claim 9 or 10, wherein the processing module is configured to control the moving body to move from the parking start position to the parking target position in a manual parking mode according to the recording request, and record the parking path indicating the parking start position and the parking target position, or
The processing module is used for controlling the moving body to move from the parking starting position to the parking target position in an automatic parking mode according to the recording request, and recording the parking starting position and the parking path of the parking target position.
12. The fixed-parking space parking device according to claim 11, wherein the processing module is configured to control the moving body to move from the parking start position to the parking target position in a manual parking mode according to the recording request, so as to generate an initial path; recording an auxiliary image when the moving body moves by adopting a parking auxiliary device; and acquiring an obstacle target position in an initial path according to the auxiliary image, and correcting the initial path according to the parking starting position, the parking target position and the obstacle target position to generate the parking path.
13. A vehicle comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the steps of the method of any one of claims 1 to 6 when executing the computer program.
14. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 6.
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| CN202010969018.8A CN112172792A (en) | 2020-09-15 | 2020-09-15 | Fixed parking space parking method and device, vehicle and storage medium |
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| CN202010969018.8A CN112172792A (en) | 2020-09-15 | 2020-09-15 | Fixed parking space parking method and device, vehicle and storage medium |
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