CN112799391A - Parking method and device for narrow parking space, vehicle and storage medium - Google Patents

Parking method and device for narrow parking space, vehicle and storage medium Download PDF

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Publication number
CN112799391A
CN112799391A CN202010969030.9A CN202010969030A CN112799391A CN 112799391 A CN112799391 A CN 112799391A CN 202010969030 A CN202010969030 A CN 202010969030A CN 112799391 A CN112799391 A CN 112799391A
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parking
moving body
target position
narrow
mode
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CN112799391B (en
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丁磊
何彦
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Human Horizons Shanghai Autopilot Technology Co Ltd
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Human Horizons Shanghai Autopilot Technology Co Ltd
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/06—Automatic manoeuvring for parking
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • 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
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • 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
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
    • 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
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B60W2050/146—Display means
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • General Physics & Mathematics (AREA)
  • Human Computer Interaction (AREA)
  • Multimedia (AREA)
  • Electromagnetism (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Traffic Control Systems (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)

Abstract

The invention discloses a parking method and device for a narrow parking space, a vehicle and a storage medium, and belongs to the field of intelligent driving. The parking method of the narrow parking space detects a parking target position to judge whether the parking target position belongs to the narrow parking space, if so, a narrow parking space message can be generated to prompt a user to get off; when the user selects the remote control parking mode, a parking path can be generated according to the current position of the mobile body and the parking target position, so that the mobile body can be controlled to move to the parking target position according to the parking path. The invention can identify the narrow parking space before parking, thereby prompting a user to get off in advance, adopts a remote control parking mode to park, avoids the embarrassment that the user can not get off because the width of the opened door can not accommodate the mobile body after the mobile body is parked in the parking target position, and improves the experience effect of the user.

Description

Parking method and device for narrow parking space, vehicle and storage medium
Technical Field
The invention relates to the field of intelligent driving, in particular to a parking method and device for a narrow parking space, a 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 existing automatic parking control technology can execute the automatic parking function, it cannot recognize whether the parking space is a narrow parking space, for example: after the vehicle stops into narrow parking stall, the driver discovers that the width that the door was opened can't hold personnel and get off the car, and user's experience effect is poor.
Disclosure of Invention
Aiming at the problem that the existing automatic parking function cannot identify that the parking space is a narrow parking space, the parking method, the parking device, the parking vehicle and the storage medium for the narrow parking space are provided, wherein the parking method, the parking device, the parking vehicle and the storage medium aim to identify the narrow parking space and provide a remote control parking mode.
The invention provides a parking method for a narrow parking space, which comprises the following steps:
detecting whether the parking target position meets a preset condition or not;
when the parking target position meets the preset condition, generating a narrow parking space message and providing a parking mode for a user to select; wherein the parking mode comprises a remote control parking mode;
when the selected parking mode is the remote control parking mode, generating a parking path according to the current position of the moving body and the parking target position;
and controlling the moving body to move to the parking target position according to the parking path.
Optionally, the preset condition is that the free size of the parking target position is larger than the size of the moving body, and the width of the parking target position is smaller than the sum of the maximum door opening width corresponding to a preset opening angle of one door of the moving body and the width of the moving body.
Optionally, before detecting whether the parking target location meets the preset condition, the method further includes:
detecting an idle parking space of the moving body in a preset range, and acquiring and displaying an auxiliary image which identifies the idle parking space of the moving body in the preset range;
setting the parking target position using the displayed assist image.
Optionally, the detecting the idle parking space of the moving body within the preset range, and acquiring and displaying the auxiliary image of the moving body identifying the idle parking space within the preset range includes:
acquiring images around the moving body through a camera of a parking assistance device mounted on the moving body, and generating a full-angle visual image of the moving body;
detecting the position of an obstacle of the moving body within a preset range through an ultrasonic radar in the parking assist device;
and identifying the idle parking spaces in the full-angle visual image based on the positions of the obstacles to form the auxiliary image.
Optionally, the setting the parking target position using the displayed auxiliary image includes:
and taking the free parking space selected by the user in the displayed auxiliary image as the parking target position.
Optionally, the parking mode further includes a parking space searching mode;
the parking method further includes:
and when the selected parking mode is the parking space searching mode, resetting the parking target position by using the displayed auxiliary image.
Optionally, the controlling the moving object to move to the parking target position according to the parking path further includes:
detecting whether an obstacle exists in the parking path through an ultrasonic radar in the parking assist device;
and when no obstacle exists in the parking path, controlling the moving body to move to the parking target position according to the parking path.
The present invention also provides a parking apparatus for a narrow parking space, including:
the first detection unit 21 is configured to detect whether a parking target position meets a preset condition;
the prompting unit is used for generating a narrow parking space message and providing a parking mode for a user to select when the parking target position meets a preset condition;
wherein the parking mode comprises a remote control parking mode;
a generating unit, configured to generate a parking path according to a current position of the mobile body and the parking target position when the selected parking mode is the remote control parking mode;
and the execution unit is used for controlling the moving body to move to the parking target position according to the parking path.
Optionally, the preset condition is that the free size of the parking target position is larger than the size of the moving body, and the width of the parking target position is smaller than the sum of the maximum door opening width corresponding to a preset opening angle of one door of the moving body and the width of the moving body.
Optionally, the method further includes:
the processing unit is used for detecting the idle parking space of the moving body in a preset range, and acquiring and displaying an auxiliary image which identifies the idle parking space of the moving body in the preset range;
a setting unit configured to set the parking target position using the displayed assist image.
Optionally, the processing unit includes:
the generation module is used for acquiring images around the moving body through a camera of a parking auxiliary device installed on the moving body and generating a full-angle visual image of the moving body;
the detection module is used for detecting the position of an obstacle of the moving body in a preset range through an ultrasonic radar in the parking assist device;
and the identification module is used for identifying and identifying the idle parking space in the full-angle visual image based on the position of the obstacle so as to form the auxiliary image.
Optionally, the setting unit is configured to use the free parking space selected by the user in the displayed auxiliary image as the parking target position.
Optionally, the parking mode further includes a parking space searching mode;
the setting unit is further configured to reset a parking target position using the displayed auxiliary image when the selected parking mode is the search parking space mode.
Optionally, the method further includes:
a second detection unit configured to detect whether an obstacle exists in the parking path by an ultrasonic radar in the parking assist apparatus.
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 vehicle having a computer program stored thereon, which when executed by a processor implements the steps of the above method.
The invention provides a parking method, a parking device, a vehicle and a storage medium for narrow parking spaces, wherein a parking target position is detected to judge whether the parking target position belongs to the narrow parking spaces, and if so, a narrow parking space message can be generated to prompt a user to get off; when the user selects the remote control parking mode, a parking path can be generated according to the current position of the mobile body and the parking target position, so that the mobile body can be controlled to move to the parking target position according to the parking path. The invention can identify the narrow parking space before parking, thereby prompting a user to get off in advance, adopts a remote control parking mode to park, avoids the embarrassment that the user can not get off because the width of the opened door can not accommodate the mobile body after the mobile body is parked in the parking target position, and improves the experience effect of the user.
Drawings
Fig. 1 is a schematic flow chart illustrating a remote parking mode starting process of a parking method for a narrow parking space according to the present invention;
fig. 2 is a schematic flow chart illustrating a parking method for narrow parking spaces according to the present invention after a parking space searching mode is triggered;
fig. 3 is a schematic flow chart of step a1 of the parking method for narrow parking spaces according to the present invention;
fig. 4 is a schematic flow chart of the obstacle prevention parking method for a narrow parking space according to the present invention;
FIG. 5 is a schematic flow chart of the unresponsive narrow parking space information of the parking method for narrow parking spaces according to the present invention;
fig. 6 is a flowchart illustrating a step S5 of the parking method for a narrow parking space according to the present invention;
fig. 7 is a schematic structural view of an embodiment of a parking device for a narrow parking space according to the present invention;
fig. 8 is a schematic structural view of another embodiment of a parking device for narrow parking spaces according to the present invention;
FIG. 9 is a block diagram of a processing unit according to the present invention;
FIG. 10 is a block diagram of a setup unit according to the present invention;
fig. 11 is a schematic block diagram of the parking device for a narrow parking space according to the present invention;
fig. 12 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 parking method, the parking device, the parking vehicle and the storage medium for the narrow parking space can be applied to a scene that a moving body is parked in the parking space or the moving body arrives at a navigation destination (such as a market, a house, a parking lot, a charging station and the like) to find the parking space.
In the embodiment of the invention, the user can send the navigation destination to the communication unit of the mobile body through the mobile terminal associated with the mobile body, the user can also directly input the destination on the central control screen of the mobile body, and the user can also input the navigation destination through voice. The moving body carries out driving navigation according to the navigation destination, when the moving body reaches the target navigation destination, the moving body is triggered to start a parking space searching mode, the free parking space of the moving body in the preset range is automatically detected, and the auxiliary image which is used for identifying the free parking space in the preset range is obtained and displayed, so that a user can select a parking target position based on the free parking space identified in the auxiliary image. Detecting a parking target position selected by a user through a parking method for a narrow parking space to judge whether the parking target position belongs to the narrow parking space, if so, generating a narrow parking space message to prompt the user to get off; when the user selects the remote control parking mode, a parking path can be generated according to the current position and the parking target position, so that the moving body can be controlled to move to the parking target position according to the parking path. The invention can identify the narrow parking space before parking, thereby prompting a user to get off in advance, adopts a remote control parking mode to park, avoids the embarrassment that the user can not get off because the width of the opened door can not accommodate the mobile body after the mobile body is parked in the parking target position, and improves the experience effect of the user.
Example one
Referring to fig. 1, a parking method for a narrow parking space of the present embodiment may include the following steps:
s1, detecting whether the parking target position meets a preset condition or not.
The preset condition is that the free size of the parking target position is larger than the size of the moving body, and the width of the parking target position is smaller than the sum of the maximum door opening width corresponding to a preset opening angle (the minimum angle capable of accommodating the user to get on or off the vehicle, such as 30 degrees, 45 degrees and the like) of one door of the moving body and the width of the moving body.
It should be noted that: the preset angle can be set according to the self stature or the requirement of the user.
In this embodiment, the size of the parking target position may be measured using an ultrasonic radar, and when both the length size and the width size of the parking target position are larger than the size of the moving body, it indicates that the parking target position is a parking space corresponding to the moving body. Meanwhile, if the width of the parking target position is smaller than the sum of the width of the moving body and the maximum width of a preset opening angle of one vehicle door, the parking target position is considered to belong to a narrow parking space, and step S2 is executed; if the width of the parking target position is larger than or equal to the sum of the width of the moving body and the maximum width of a door opening preset angle, the parking target position is considered to be capable of accommodating a user to normally get on or off the vehicle, and a parking path is generated according to the current position and the parking target position.
And S2, generating a narrow parking space message when the parking target position meets a preset condition, and providing a parking mode for a user to select.
The parking mode can comprise a remote control parking mode and a parking space searching mode.
In the embodiment, the moving body can display the narrow parking space message through the central control screen of the HMI interactive device, and can also prompt the user in a voice prompt mode. Meanwhile, the user can be prompted to select a parking mode.
And S3, when the selected parking mode is the remote control parking mode, generating a parking path according to the current position of the moving body and the parking target position.
The current position may include a driving direction and position information. The parking target locations may include parking types such as non-linear parking spaces, diagonal parking spaces, linear parking spaces, parking spaces near the pillar, and the like.
In practical application, the moving body can display a narrow parking space message through a central control screen of the HMI interactive device, when a user selects a remote control parking mode, a prompt of asking to engage a P gear and get off the vehicle can be displayed on the central control screen, and the moving body can also prompt the user in a voice prompt mode. After the user responds to the prompt, starting a remote control parking mode, and acquiring a parking type corresponding to the parking target position according to the position of the parking target position in the auxiliary image; determining a parking direction according to the relation between the current driving direction and the parking target position, planning a global path and a parking path according to the appearance parameters of the moving body, the parking type corresponding to the current parking target position, the current position, the vertex coordinate information of the parking target position and the parking direction, and splicing, node optimization, smoothing and path fitting the global path and the parking path to obtain a smoothly-transitional parking path.
And S4, controlling the moving body to move to the parking target position according to the parking path.
In this embodiment, after the parking path is generated, the electronic power steering mechanism may control the moving object to park from the current position to the parking target position according to the parking path, so as to complete the parking operation.
In the embodiment, the parking method for the narrow parking space detects the parking target position to judge whether the parking target position belongs to the narrow parking space, and if so, a narrow parking space message can be generated to prompt a user to get off; when the user selects the remote control parking mode, a parking path can be generated according to the current position of the mobile body and the parking target position, so that the mobile body can be controlled to move to the parking target position according to the parking path. The invention can identify the narrow parking space before parking, thereby prompting a user to get off in advance, adopts a remote control parking mode to park, avoids the embarrassment that the user can not get off because the width of the opened door can not accommodate the mobile body after the mobile body is parked in the parking target position, and improves the experience effect of the user.
Example two
Referring to fig. 2, the parking method for a narrow parking space of the present embodiment includes the following steps:
A1. and detecting the idle parking space of the moving body in a preset range, and acquiring and displaying an auxiliary image which identifies the idle parking space of the moving body in the preset range.
The preset range is a short-distance range of the moving body, and for example: within a range of 5 meters from the moving body, the preset range is related to the detection range of the ultrasonic radar mounted on the moving body.
In this embodiment, the user may start the parking space search mode by triggering a parking button on the moving body, and execute step a 1; the user may also input the destination position in advance, and when the moving body reaches (or is near) the destination position, trigger the search space mode, and execute step a1.
In the embodiment, after the parking space searching mode is triggered, whether idle parking spaces exist around the moving body is detected, if yes, an auxiliary image for identifying the idle parking spaces is displayed through a display unit installed on the moving body, so that a user can watch the current position condition of the idle parking spaces through the display unit; if not, the auxiliary image can be displayed through the display unit, so that a user can know the parking space situation around the current moving body by watching the auxiliary image.
Further, referring to step a1 shown in fig. 3, the method may include the following steps:
A11. the method comprises the steps of collecting images around the moving body through a camera of a parking assistance device installed on the moving body, and generating a full-angle visual image of the moving body.
In this embodiment, in order to collect the full-angle image of the moving body, the cameras may be installed in front of, behind, to the left of, and to the right of the moving body, four images of the moving body in four directions are collected through the cameras, and the preset vehicle icon of the moving body is registered and fused with the four images to form a full-angle visual image overlooked from above the moving body, and the full-angle visual image may display an idle parking space of a ground identification parking line, thereby avoiding a blind area of view.
Specifically, methods such as a fisheye correction algorithm, a linear transformation method, an edge registration and a weighted fusion algorithm can be used for image registration and fusion.
A12. And detecting the position of an obstacle of the moving body within a preset range through an ultrasonic radar in the parking assist device.
In the embodiment, in order to improve the detection accuracy and coverage rate of the ultrasonic radar, a plurality of ultrasonic radars (for example, 8, 12, 14, etc.) may be installed at positions such as a front bumper, a rear bumper, and a skin near a tire of the mobile body, so that 360-degree radar detection without a dead angle is realized. The ultrasonic radar can detect the free parking space with obstacles (such as ground locks or vehicles) nearby without identifying the stop line on the ground.
A13. And identifying the idle parking spaces in the full-angle visual image based on the positions of the obstacles to form the auxiliary image.
It should be noted that: a plurality of free parking spaces can be shown and identified in the auxiliary image.
In this embodiment, the image recognition model may be used to recognize the idle parking space in the full-angle visual image, calibrate the idle parking space in combination with the position of the obstacle, and identify the calibrated idle parking space position in the full-angle visual image, so as to form an empty auxiliary image carrying an identification frame (the idle parking space in the frame), so as to ensure the position accuracy of the idle parking space displayed in the auxiliary image, and avoid affecting the selection and judgment of the user due to position errors.
A2. The parking target position is set using the displayed assist image, and step S1 is executed.
Further, the free parking space selected by the user in the displayed auxiliary image is used as the parking target position.
In this embodiment, the auxiliary image may be displayed by using a central control screen disposed in the mobile body, and the user selects the identification frame of the parking target position through the central control screen to determine the parking space position for parking.
S1, detecting whether the parking target position meets a preset condition or not.
And S2, generating a narrow parking space message when the parking target position meets a preset condition, and providing a parking mode for a user to select.
And S3, when the selected parking mode is the remote control parking mode, generating a parking path according to the current position of the moving body and the parking target position.
And S4, controlling the moving body to move to the parking target position according to the parking path.
In this embodiment, in the parking method for narrow parking spaces, an auxiliary image for identifying the idle parking spaces in a preset range is acquired and displayed by detecting the idle parking spaces of a moving body in the preset range, so that a user can select a parking target position based on the idle parking spaces identified in the auxiliary image; detecting a parking target position selected by a user to judge whether the parking target position belongs to a narrow parking space, if so, generating a narrow parking space message to prompt the user to get off; when the user selects the remote control parking mode, a parking path can be generated according to the current position of the mobile body and the parking target position, so that the mobile body can be controlled to move to the parking target position according to the parking path. The invention can identify the narrow parking space before parking, thereby prompting a user to get off in advance, adopts a remote control parking mode to park, avoids the embarrassment that the user can not get off because the width of the opened door can not accommodate the mobile body after the mobile body is parked in the parking target position, and improves the experience effect of the user.
EXAMPLE III
Referring to fig. 4, the parking method for a narrow parking space of the present embodiment includes the following steps:
A1. and detecting the idle parking space of the moving body in a preset range, and acquiring and displaying an auxiliary image which identifies the idle parking space of the moving body in the preset range.
A2. The parking target position is set using the displayed assist image, and step S1 is executed.
S1, detecting whether the parking target position meets a preset condition or not.
And S2, generating a narrow parking space message when the parking target position meets a preset condition, and providing a parking mode for a user to select.
And S3, when the selected parking mode is the remote control parking mode, generating a parking path according to the current position of the moving body and the parking target position, and executing the step B.
B. Detecting whether an obstacle exists in the parking path through an ultrasonic radar in the parking assist device; if not, go to step S4; if yes, the method returns to the step A1.
And S4, controlling the moving body to move to the parking target position according to the parking path.
In the present embodiment, in order to prevent the moving body from moving before parking in the parking target position, there are other movable obstacles, such as: a kitten, a puppy, or the like moves in the parking path, affecting the mobile body to park, and the parking path may be detected using an ultrasonic radar before step S4 is performed, in order to prevent obstacles from obstructing parking.
Example four
Referring to fig. 5, the parking method for a narrow parking space of the present embodiment may include the following steps:
A1. and detecting the idle parking space of the moving body in a preset range, and acquiring and displaying an auxiliary image which identifies the idle parking space of the moving body in the preset range.
A2. The parking target position is set using the displayed assist image, and step S1 is executed.
S1, detecting whether the parking target position meets a preset condition or not.
And S2, generating a narrow parking space message when the parking target position meets a preset condition, and providing a parking mode for a user to select.
And S3, when the selected parking mode is the remote control parking mode, generating a parking path according to the current position of the moving body and the parking target position.
And S4, controlling the moving body to move to the parking target position according to the parking path.
And S5, when the selected parking mode is the parking space searching mode, resetting the parking target position by using the displayed auxiliary image.
In practical application, when the user does not respond to the narrow parking space message, the user can release the brake under the D gear or the R gear so as to trigger the mobile body to enter the parking space searching mode.
Further, referring to step S5 shown in fig. 6, the method may include the following steps:
and S51, acquiring the number of the idle parking spaces marked in the auxiliary image.
S52, judging whether the idle parking space is larger than 1, if so, executing a step S53; if not, the method returns to the step A1.
And S53, resetting the parking target position by using the displayed auxiliary image.
In practical application, when a user selects a parking space searching mode, the moving body can display a brake release prompt under a D gear or an R gear through a central control screen of the HMI interactive equipment; the moving body can also prompt the user by means of voice prompt. After the user responds to the prompt, a parking space searching mode is started, and if the auxiliary image has a plurality of idle parking spaces, the displayed auxiliary image can be used for resetting the parking target position; if there is only one free parking space in the auxiliary image, the process returns to step a1 to detect the free parking space of the moving object within the preset range, so as to reset the parking target position.
EXAMPLE five
Referring to fig. 7, a parking apparatus 1 for a narrow parking space of the present embodiment includes: a first detection unit 21, a presentation unit 22, a generation unit 23, and an execution unit 24.
The first detecting unit 21 is configured to detect whether the parking target position meets a preset condition.
The preset condition is that the free size of the parking target position is larger than the size of the moving body, and the width of the parking target position is smaller than the sum of the maximum door opening width corresponding to the preset opening angle of one door of the moving body and the width of the moving body.
And the prompting unit 22 is configured to generate a narrow parking space message and provide a parking mode for a user to select when the parking target position meets a preset condition.
Wherein the parking mode may include a remote parking mode.
In the embodiment, the moving body can display the narrow parking space message through the central control screen of the HMI interactive device, and can also prompt the user in a voice prompt mode. Meanwhile, the user can be prompted to select a parking mode.
And the generating unit 23 is configured to generate a parking path according to the current position and the parking target position when the selected parking mode is the remote control parking mode.
The current position may include a driving direction and position information. The parking target locations may include parking types such as non-linear parking spaces, diagonal parking spaces, linear parking spaces, parking spaces near the pillar, and the like.
In practical application, the moving body can display a narrow parking space message through a central control screen of the HMI interactive device, when a user selects a remote control parking mode, a prompt of asking to engage a P gear and get off the vehicle can be displayed on the central control screen, and the moving body can also prompt the user in a voice prompt mode. After the user responds to the prompt, starting a remote control parking mode, and acquiring a parking type corresponding to the parking target position according to the position of the parking target position in the auxiliary image; determining a parking direction according to the relation between the current driving direction and the parking target position, planning a global path and a parking path according to the appearance parameters of the moving body, the parking type corresponding to the current parking target position, the current position, the vertex coordinate information of the parking target position and the parking direction, and splicing, node optimization, smoothing and path fitting the global path and the parking path to obtain a smoothly-transitional parking path.
And the execution unit 24 is used for controlling the moving body to move to the parking target position according to the parking path.
In this embodiment, after the parking path is generated, the electronic power steering mechanism may control the moving object to park from the current position to the parking target position according to the parking path, so as to complete the parking operation.
In an embodiment, referring to fig. 8, the parking apparatus 1 for a narrow parking space may further include: a processing unit 25 and a setting unit 26.
And the processing unit 25 is configured to detect an idle parking space of the moving body within a preset range, and acquire and display an auxiliary image that identifies the idle parking space of the moving body within the preset range.
The preset range is a short-distance range of the moving body, and for example: within a range of 5 meters from the moving body, the preset range is related to the detection range of the ultrasonic radar mounted on the moving body.
In this embodiment, the user may start the parking space searching mode by triggering the parking button on the moving body, and trigger the processing unit 25 to execute a corresponding operation; the user can also input the destination position in advance, and when the moving body reaches the destination position (or nearby), the search parking space mode is triggered, and the processing unit 25 is triggered to execute corresponding operations.
In the embodiment, after the parking space searching mode is triggered, whether idle parking spaces exist around the moving body is detected, if yes, an auxiliary image for identifying the idle parking spaces is displayed through a display unit installed on the moving body, so that a user can watch the current position condition of the idle parking spaces through the display unit; if not, the auxiliary image can be displayed through the display unit, so that a user can know the parking space situation around the current moving body by watching the auxiliary image.
The processing unit 25 shown with reference to fig. 9 may include: a generation module 251, a detection module 252, and an identification module 253.
The generating module 251 is configured to acquire an image of the periphery of the moving body through a camera of a parking assist device mounted on the moving body, and generate a full-angle visualized image of the moving body.
In this embodiment, in order to collect the full-angle image of the moving body, the cameras may be installed in front of, behind, to the left of, and to the right of the moving body, four images of the moving body in four directions are collected through the cameras, and the preset vehicle icon of the moving body is registered and fused with the four images to form a full-angle visual image overlooked from above the moving body, and the full-angle visual image may display an idle parking space of a ground identification parking line, thereby avoiding a blind area of view.
A detecting module 252, configured to detect, by an ultrasonic radar in the parking assist apparatus, an obstacle position of the moving body within a preset range;
in this embodiment, in order to improve the detection accuracy and coverage of the ultrasonic radar, a plurality of ultrasonic radars may be installed at positions such as a front bumper and a rear bumper of the mobile body, and a skin near a tire, so as to implement 360-degree radar detection without a dead angle. The ultrasonic radar can detect the idle parking space with obstacles nearby without marking the stop line on the ground.
And the identification module 253 is configured to identify and identify the idle parking space in the full-angle visualized image based on the position of the obstacle, so as to form the auxiliary image.
It should be noted that: a plurality of free parking spaces can be shown and identified in the auxiliary image.
In this embodiment, the identification module 253 may adopt an image recognition model to recognize an idle parking space in the full-angle visual image, calibrate the idle parking space in combination with the position of the obstacle, and identify the calibrated idle parking space position in the full-angle visual image, so as to form an auxiliary image carrying an empty identification frame, so as to ensure the position accuracy of the idle parking space displayed in the auxiliary image, and avoid influencing the selection and judgment of the user due to a position error.
A setting unit 26 for setting a parking target position using the displayed assist image.
Further, the setting unit 26 is configured to use the free parking space selected by the user in the displayed auxiliary image as the parking target position.
In this embodiment, the auxiliary image may be displayed by using a central control screen disposed in the mobile body, and the user selects the identification frame of the parking target position through the central control screen to determine the parking space position for parking.
It should be noted that: the parking mode may further include a search parking space mode.
The setting unit 26 is also configured to reset a parking target position using the displayed auxiliary image when the selected parking mode is the search parking space mode.
Specifically, the setting unit 26 shown in fig. 10 may include: an acquisition module 261 and a control module 262.
An obtaining module 261, configured to obtain, when the selected parking mode is the parking space search mode, the number of idle parking spaces identified in the auxiliary image.
The control module 262 is configured to determine whether the idle parking space is greater than 1, and if so, the control module 262 is configured to control the setting unit 26 to reset the parking target position by using the displayed auxiliary image; if not, the control module 262 is configured to control the processing unit 25 to detect an idle parking space of the moving body within a preset range, and acquire and display an auxiliary image that identifies the idle parking space of the moving body within the preset range.
In practical application, when a user selects a parking space searching mode, the moving body can display a brake release prompt under a D gear or an R gear through a central control screen of the HMI interactive equipment; the moving body can also prompt the user by means of voice prompt. After the user responds to the prompt, a parking space searching mode is started, and if the auxiliary image has a plurality of idle parking spaces, the setting unit 26 can be adopted to reset the parking target position by using the displayed auxiliary image; if the auxiliary image has only one free parking space, the processing unit 25 is adopted to detect the free parking space of the moving body within the preset range, so as to reset the parking target position.
In this embodiment, the processing unit 25 of the parking device 1 for narrow parking spaces obtains and displays an auxiliary image identifying the free parking spaces within a preset range by detecting the free parking spaces of the moving body within the preset range, so that a user can select a parking target position based on the free parking spaces identified in the auxiliary image; the first detection unit 21 is adopted to detect the parking target position selected by the user so as to judge whether the parking target position belongs to a narrow parking space, if so, a narrow parking space message can be generated through the prompt unit 22 so as to prompt the user to get off; when the user selects the remote control parking mode, the generating unit 23 is used to generate a parking path according to the current position and the parking target position, so that the executing unit 24 controls the moving body to move to the parking target position according to the parking path. The invention can identify the narrow parking space before parking, thereby prompting a user to get off in advance, adopts a remote control parking mode to park, avoids the embarrassment that the user can not get off because the width of the opened door can not accommodate the mobile body after the mobile body is parked in the parking target position, and improves the experience effect of the user.
In an embodiment, the parking apparatus 1 for a narrow parking space may further include: a second detection unit 27.
A second detection unit 27 for detecting whether an obstacle is present in the parking path by the ultrasonic radar in the parking assist apparatus.
In the present embodiment, in order to prevent the moving body from moving before parking in the parking target position, there are other movable obstacles, such as: the mobile body parking is influenced by the fact that a kitten, a puppy and the like move in the parking path, and the detection unit can adopt an ultrasonic radar to detect the parking path so as to prevent obstacles from obstructing parking.
EXAMPLE six
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: a memory 21, a processor 23, a network interface 22, and a parking device 1 for narrow parking spaces (see fig. 12) that can be communicatively connected to each other via a system bus. It should be noted that fig. 12 only shows the vehicle 2 with components, but it is 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 parking methods for narrow parking spaces in the first embodiment, the second embodiment, the third embodiment and the fourth 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 the processing data stored in the memory 21, for example, operate the parking device 1 for a narrow parking space.
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. 12 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 parking device 1 for a narrow parking space 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 seven
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 parking apparatus 1 for a narrow parking space, and when being executed by the processor 23, the parking methods for a narrow parking space according to the first embodiment, the second embodiment, the third embodiment and the fourth embodiment are implemented.
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 (16)

1. A method for parking in a narrow space, comprising:
detecting whether the parking target position meets a preset condition or not;
when the parking target position meets the preset condition, generating a narrow parking space message and providing a parking mode for a user to select; wherein the parking mode comprises a remote control parking mode;
when the selected parking mode is the remote control parking mode, generating a parking path according to the current position of the moving body and the parking target position;
and controlling the moving body to move to the parking target position according to the parking path.
2. The parking method for the narrow parking space according to claim 1, wherein the preset condition is that a free size of the parking target position is larger than a size of the moving body, and a width of the parking target position is smaller than a sum of a maximum door opening width corresponding to a preset angle at which one door of the moving body is opened and the width of the moving body.
3. The parking method for the narrow parking space according to claim 1, wherein before detecting whether the parking target position meets the preset condition, the method further comprises:
detecting an idle parking space of the moving body in a preset range, and acquiring and displaying an auxiliary image which identifies the idle parking space of the moving body in the preset range;
setting the parking target position using the displayed assist image.
4. The parking method for the narrow parking space according to claim 3, wherein the steps of detecting an idle parking space of the moving body within a preset range, acquiring and displaying an auxiliary image of the moving body within the preset range, the auxiliary image identifying the idle parking space, comprise:
acquiring images around the moving body through a camera of a parking assistance device mounted on the moving body, and generating a full-angle visual image of the moving body;
detecting the position of an obstacle of the moving body within a preset range through an ultrasonic radar in the parking assist device;
and identifying the idle parking spaces in the full-angle visual image based on the positions of the obstacles to form the auxiliary image.
5. The parking method for a narrow parking space according to claim 3, wherein setting the parking target position using the displayed auxiliary image includes:
and taking the free parking space selected by the user in the displayed auxiliary image as the parking target position.
6. A method of parking in narrow spaces as claimed in claim 3, wherein the parking mode further includes a search space mode;
the parking method further includes:
and when the selected parking mode is the parking space searching mode, resetting the parking target position by using the displayed auxiliary image.
7. The parking method for the narrow parking space according to claim 1, wherein the moving body is controlled to move to the parking target position according to the parking path, and previously comprising:
detecting whether an obstacle exists in the parking path through an ultrasonic radar in the parking assist device;
and when no obstacle exists in the parking path, controlling the moving body to move to the parking target position according to the parking path.
8. A parking device for narrow parking spaces, comprising:
the first detection unit is used for detecting whether the parking target position meets a preset condition or not;
the prompting unit is used for generating a narrow parking space message and providing a parking mode for a user to select when the parking target position meets a preset condition;
wherein the parking mode comprises a remote control parking mode;
a generating unit, configured to generate a parking path according to a current position of the mobile body and the parking target position when the selected parking mode is the remote control parking mode;
and the execution unit is used for controlling the moving body to move to the parking target position according to the parking path.
9. The parking apparatus for a narrow parking space according to claim 8, wherein the preset condition is that a free size of the parking target position is larger than a size of the moving body, and a width of the parking target position is smaller than a sum of a maximum door opening width corresponding to a preset angle at which one door of the moving body is opened and the width of the moving body.
10. The parking device for a narrow parking space according to claim 8, further comprising:
the processing unit is used for detecting the idle parking space of the moving body in a preset range, and acquiring and displaying an auxiliary image which identifies the idle parking space of the moving body in the preset range;
a setting unit configured to set the parking target position using the displayed assist image.
11. The parking device for a narrow parking space according to claim 10, wherein the processing unit includes:
the generation module is used for acquiring images around the moving body through a camera of a parking auxiliary device installed on the moving body and generating a full-angle visual image of the moving body;
the detection module is used for detecting the position of an obstacle of the moving body in a preset range through an ultrasonic radar in the parking assist device;
and the identification module is used for identifying and identifying the idle parking space in the full-angle visual image based on the position of the obstacle so as to form the auxiliary image.
12. The parking device for a narrow parking space according to claim 10, wherein the setting unit is configured to set the free parking space selected by the user in the displayed auxiliary image as the parking target position.
13. The parking device for a narrow parking space according to claim 10, wherein the parking mode further includes a search space mode;
the setting unit is further configured to reset a parking target position using the displayed auxiliary image when the selected parking mode is the search parking space mode.
14. The parking device for a narrow parking space according to claim 8, further comprising:
a second detection unit configured to detect whether an obstacle exists in the parking path by an ultrasonic radar in the parking assist apparatus.
15. 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 7 when executing the computer program.
16. 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 7.
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