CN113119954A

CN113119954A - Method and device for controlling parking assistance

Info

Publication number: CN113119954A
Application number: CN201911407118.5A
Authority: CN
Inventors: 陈祥芹; 张�诚
Original assignee: Robert Bosch GmbH
Current assignee: Robert Bosch GmbH
Priority date: 2019-12-31
Filing date: 2019-12-31
Publication date: 2021-07-16

Abstract

The invention relates to a method for controlling a parking aid, comprising generating a first human-machine interface (5) for controlling the parking aid on a display device; the first human-machine interface (5) comprises a first region (6), the first region (6) being configured to: generating at least one icon with at least one control function on the first area (6) when the parking aid function is switched on; the first human-machine interface further comprises a second region (7), the second region (7) being configured for displaying detection data related to the vehicle surroundings.

Description

Method and device for controlling parking assistance

Technical Field

The invention relates to a method and a device for controlling a parking assistance.

Background

At present, in order to meet the increasing parking demand of vehicles, as many parking spaces as possible have to be provided by limiting the size of the parking spaces. However, it is not easy to smoothly park the vehicle in or out of a narrow space. Therefore, the application of automatic parking/warehousing and remote parking/warehousing technologies has emerged and has become a hot spot in the field of vehicle research and development. In order to facilitate the user to use and control such an Automatic Parking Assist (APA) function and a remote parking assist function, it is necessary to provide a human-machine interface capable of controlling the parking assist function accordingly.

In addition, the structure of the vehicle body inevitably causes a visual blind area for a driver, thereby bringing about a safety hidden trouble which is not ignored. To solve this problem, many manufacturers and manufacturers are currently engaged in the development and research of panoramic image systems. For this reason, there is a need to provide a human-machine interface accordingly so that a user can easily use and manipulate the panoramic image system.

Also, during automatic parking or remote parking, it is desirable to enable a user to view real-time environment monitoring data to ensure human-machine safety.

Accordingly, it is desirable to provide a human-machine interface that enables a user to easily and unmistakably use and manipulate an automatic parking assist function, a Remote Parking Assist (RPA) function, and a panoramic image function, while also viewing real-time environment monitoring data during the operation of the parking assist function.

Disclosure of Invention

The invention aims to provide a technical scheme which can enable a user to easily use and control the automatic parking auxiliary function, the remote parking auxiliary function and the panoramic image function.

According to an aspect of the present invention, the above object is achieved by a method for controlling a parking aid, comprising generating a first human-machine interface for controlling a parking aid on a display device. The first human-machine interface includes a first region configured to: generating at least one icon having at least one control function on the first region when the parking assist function is turned on; the first human-machine interface further includes a second region configured to display detection data related to an environment surrounding the vehicle.

According to a preferred embodiment, the at least one icon comprises at least one first icon, which is configured to set characteristics of a parking operation to be performed, including a parking direction and/or a parking manner, wherein the at least one first icon comprises at least one selectable icon, each of which corresponds to a respective drivable space.

According to a preferred embodiment, the at least one icon further comprises a vehicle icon substantially in the form of a vehicle outline, each of the selectable icons being configured to be arranged in a particular orientation and position relative to the vehicle icon to represent the orientation and position in the real environment of the space to which it corresponds, wherein the orientation and position in the real environment of the space to which it corresponds is determined by the vehicle environment data.

According to a preferred embodiment, the method comprises: setting a parking direction and/or a parking mode by selecting one of the at least one selectable icon as a target parking space, and generating a directional arrow pointing from the vehicle icon to the selected icon in the first human-computer interface when one of the selectable icons is selected, wherein the configuration of the directional arrow approximately describes a parking track.

According to a preferred embodiment, the at least one icon further includes at least one third icon configured to select a parking control type, which includes an automatic parking assist and a remote parking assist. When the third icon is operated to select the remote parking aid, a vehicle control application program installed in the remote terminal for controlling the remote parking aid is woken up to generate a second human-machine interaction interface in a display device of the remote terminal, wherein the second human-machine interaction interface includes at least one operable icon for controlling the remote parking aid.

According to a preferred embodiment, the detection data is image data from a panoramic image system, and the bird's-eye view obtained by the panoramic image system and at least one selectable viewing angle selection button are displayed in the first area, each viewing angle selection button corresponding to one image viewing angle, wherein each of the viewing angle selection buttons is arranged around the vehicle body image at a specific angular position corresponding to the image viewing angle represented by the viewing angle selection button; and when one of the view angle selection buttons is selected, displaying the image data under the image view angle corresponding to the view angle selection button in the second area.

According to a further aspect of the invention, the above object is also achieved by a device for controlling a parking aid, comprising a computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the method described above.

Drawings

Further features and advantages of the present invention will be further elucidated by the following detailed description of an embodiment thereof, with reference to the accompanying drawings. The attached drawings are as follows:

fig. 1 is a schematic block diagram of a device for controlling a parking assist according to the present invention;

FIGS. 2-12 and 24-25 illustrate different display states of a first human-machine-interaction interface according to the invention;

FIGS. 13-20 illustrate different display states of a second human-computer interaction interface according to the invention;

FIGS. 21-23 illustrate different display states of a third human-machine-interaction interface, according to the invention;

fig. 26 shows a flow chart of a method for controlling a parking assist, which is carried out with the device 1 according to the invention;

fig. 27 is a flowchart showing a remote control flow for controlling the remote parking garage; and

fig. 28 shows a flow chart of a method for controlling remote parking, which is carried out by means of a second human-machine interface according to the invention.

Detailed Description

In this context, the term "parking" should be understood to cover parking garage and parking garage.

In this context, a "target parking space" may be understood as an elongated space to be occupied by the vehicle when the parking operation is completed.

Fig. 1 shows a schematic block diagram of a device 1 for controlling a parking assist according to the invention. The apparatus 1 includes a processor 30 and a computer readable storage medium 2 electrically connected to the processor 30. The computer-readable storage medium 2 has stored thereon a computer program which, when executed by the processor 30, generates a human-machine interaction interface with human-machine interaction functionality on the display device 3, 4. The human-machine interface is configured, in particular, to enable a user to use, implement and control parking aid functions (e.g., an Automatic Parking Aid (APA) function or a Remote Parking Aid (RPA) function) and/or real-time video monitoring functions via the interface.

Fig. 2 to 12 show a first human-machine interface 5 generated on a display device 3 installed in the vehicle for controlling the parking assistance. As shown in fig. 2-12, the first human-machine interface 5 comprises a first region 6, the first region 6 being configured to: when the parking assist function is switched on, for example, by operating a parking assist switch, at least one icon having at least one control function is generated in the first region 6. The first human-machine-interaction-interface 5 further comprises a second region 7, said second region 7 being configured for displaying detection data related to the vehicle surroundings. The detection data are in particular video data from a vehicle-mounted camera, in particular a panoramic image system.

According to a preferred embodiment the first area 6 and the second area 7 are displayed side by side on the display means 3. More preferably, one of the first and

second areas

6 and 7 occupies a left area of the display device 3, and the other occupies a right area of the display device 3. Particularly preferably, the first region 6 is located to the left of the second region 7.

Additionally or alternatively, the first human machine interface 5 may also be generated on a display device located off board, for example on a display screen of a mobile terminal.

According to a preferred embodiment, the at least one icon comprises at least one first icon 8, the at least one first icon 8 being configured to set at least one characteristic of an imminent parking operation, the at least one characteristic comprising: parking direction and parking mode. In this context, the term "parking direction" covers both the general movement direction of the vehicle during the parking operation, i.e. the direction vector from the location where the vehicle is located at the beginning of the parking operation to the location where the vehicle is located at the end of the parking operation, and the direction of rotation of the vehicle body itself during the parking operation, i.e. the direction of rotation of the vehicle. The term "parking mode" includes at least parking in a reverse mode and parking in a forward mode.

The first icon 8 comprises at least one selectable icon 9, each of the at least one selectable icon 9 corresponds to a space that can be accessed, and the parking direction and/or the parking mode are/is set by selecting one of the at least one selectable icon 9. In the case of parking in a garage, the space that can be driven in can be understood as a free parking space. In the case of parking out of a garage, the space available for entry is the free road space available for the vehicle after leaving the garage.

According to a particularly preferred embodiment, each of the selectable icons 9 is configured to be distributed in the first region 6 with a specific orientation and position to represent the orientation and position in the real environment of the space to which it corresponds, wherein the orientation and position in the real environment of the space to which it corresponds is determined on the basis of vehicle environment data, for example from on-board detection devices such as ultrasonic sensors, on-board radar, on-board cameras and/or received from other vehicles or servers or from the cloud. As shown in particular in fig. 2 and 3, the selectable icons 9 are in the form of rectangular, in particular rectangular, frames.

In order to allow the user to visually recognize the orientation and position of the space that can be accessed, a vehicle icon 11 in the form of a vehicle contour and/or a road icon (not shown) in the form of a road contour are also displayed. The relative position and relative orientation of the vehicle icon 11, road icon and rectangular frame 9 in the first region 6 correspond to the relative position and relative orientation of the vehicle, road and accessible space in reality.

According to a preferred embodiment, the at least one first icon 8 is also configured to indicate whether the current surroundings allow a parking operation to be performed. For this reason, in case it is determined based on the vehicle environment data that the current surroundings do not allow to perform parking operations, e.g. that there are no free parking spaces, the first human machine interface 5 does not comprise any selectable icons 9, as shown in fig. 24-25. The first human-machine interface 5 may also not comprise any parameter setting buttons 10, if necessary (explained in detail below). In addition, the at least one first icon 8 updates the parking space condition in real time as the vehicle travels.

Further, when one of the at least one selectable icon 9 is selected, the space accessible by the icon is selected as a target parking space for the parking operation to be performed. For example, the user may select the location corresponding to one of the selectable icons 9 as the target parking space by clicking on that icon. When a selectable icon 9 is selected it is highlighted in the first field 6. The manner of highlighting is, for example, changing to a more conspicuous color or changing from a non-blinking icon to a blinking icon. In the diagrams of fig. 2-3, the selected icon 9 is represented by a filled-in rectangular box.

According to a preferred embodiment, in the parking and warehousing mode, if the longitudinal direction of the rectangular frame 9 is parallel to the longitudinal direction of the vehicle icon 11, it means that the parking space represented by the rectangular frame 9 is a parallel parking space; if the longitudinal direction of the rectangular frame 9 has a certain angle with respect to the longitudinal direction of the vehicle icon 11, it means that the parking space represented by the rectangular frame 9 is an angular parking space, and particularly, if the longitudinal direction of the rectangular frame 9 is perpendicular to the longitudinal direction of the vehicle icon 11, it means that the parking space represented by the rectangular frame 9 is a vertical parking space. For example, in the embodiment shown in FIG. 2a, the slot represented by rectangular box 9-1 belongs to a parallel slot located to the left of the vehicle and the slots represented by rectangular boxes 9-2 and 9-3 belong to parallel slots located in tandem and to the right of the vehicle; in the embodiment shown in fig. 2b, the spaces represented by the rectangular boxes 9-1 ' and 9-2 ' belong to vertical spaces located to the left of the vehicle and the spaces represented by the rectangular box 9-3 ' belong to vertical spaces located to the right of the vehicle.

According to a preferred embodiment, in the parking garage-out mode, if the longitudinal direction of the rectangular frame is parallel to the longitudinal direction of the vehicle icon 11, selecting the rectangular frame means that garage-out from the parallel parking spaces is to be performed; if the longitudinal direction of the rectangular frame has a certain angle with respect to the longitudinal direction of the vehicle icon 11, selecting the rectangular frame means that the garage-out from the angle slot is to be performed. For example, in the embodiment shown in FIG. 3a, selecting the rectangular box 9-1 "to the left of the vehicle icon 11 means that an outbound from a parallel slot to the left is to be performed. In the embodiment shown in fig. 3b, selecting the rectangular box 9-2 "located right in front of the vehicle icon 11 means that a garage exit from the vertical carport to the right in a forward manner is to be performed. In the embodiment shown in fig. 3c, selecting the rectangular box 9-3 "located to the left and behind the vehicle icon 11 means that a garage exit to the left in a reverse manner from a vertical parking space is to be performed.

Additionally or alternatively, when a certain selectable icon 9 is selected, a directional arrow 12 pointing from the vehicle icon 11 to the selected icon 9 is correspondingly generated. In different parking scenarios, directional arrow 12 may have different configurations to generally describe the parking trajectory. For example in the scenario shown in fig. 2a, 3a and 3b, the arrow 12 is in a rounded configuration, whereas in the scenario shown in fig. 2b and 3c, the arrow 12 is in a non-rounded configuration.

According to a preferred embodiment, the first icon 8 further comprises at least one parameter setting button 10, said at least one parameter setting button 10 being configured to set a parameter relating to a characteristic of the parking operation, said parameter comprising: the type of target parking space, whether reverse or forward, and/or whether left or right parking. By setting these parameters, the parking direction and the parking mode can be determined.

According to a preferred embodiment, the parameter setting button 10 is configured as an option switching button capable of switching between different preset options of parameters. The parameter setting button 10 includes: a first option switching button 10-1 for setting the type of target parking space, which is configured to switch between parallel parking and vertical parking; a second option switching button 10-2 and a fourth option switching button 10-4 for switching between reverse parking and forward parking (see fig. 20); and/or a third option toggle button 10-3 for toggling between left parking and right parking. These option switching buttons 10-1 to 10-4 do not necessarily have to be shown at the same time.

Preferably, the option toggle button is shown with a first visual characteristic when allowing toggling between at least two options involved in the option toggle button; conversely, when switching between at least two options involved in the option toggle button is disabled, the option toggle button is shown with a second visual characteristic different from the first visual characteristic. This is seen from a comparison of the second option toggle button 10-2 of fig. 2a and 2b, where the second option toggle button 10-2 of fig. 2a is disabled and the second option toggle button 10-2 of fig. 2b is enabled. Disabled or enabled is determined based on real-time environmental conditions or based on the availability and security settings of the options. The visual characteristic may be color, brightness, blinking pattern, degree of shading, or whether there is padding, etc. Moreover, this differentiated display strategy is equally applicable to all other icons to which this application relates.

According to a preferred embodiment, said at least one selectable icon 9 is displayed in response to the setting of a parameter by means of a parameter setting button 10. It is particularly preferred that only the accessible space 9 corresponding to the setting of the parameter setting button 10 is displayed, i.e. only the accessible space corresponding to the setting of the parameter setting button 10 is shown in the first region 6 by means of the selectable icon 9. For example, in the embodiment of fig. 2a, the first option toggle button 10-1 is toggled to "parallel", only the currently available parallel slot 9 is displayed; if the first option switching button 10-1 is switched to "vertical", only the currently available vertical space 9 is displayed as shown in fig. 2 b.

According to a preferred embodiment, the user can preset preference settings as default settings for the parameter setting buttons 10. This also applies to other icons, such as the second icon 14 used to select the park mode.

According to a preferred embodiment, the default setting of one of the parameter setting buttons depends on the current setting of the other of the parameter setting buttons to comply with prevailing driving regulations and driving habits. In an exemplary embodiment, in the parking garage mode, once the first option switching button 10-1 is switched to "parallel", the second option switching button 10-2 is locked to "back in", see fig. 2 a. In another exemplary embodiment, in the parking garage-out mode, once the first option switching button 10-1 is switched to "parallel", the third option switching button 10-3 is switched to "left out" and the fourth option switching button 10-4 is switched to "front out", as shown in fig. 20.

According to a preferred embodiment, the at least one first icon 8 further comprises at least one non-selectable icon 13, each of the at least one non-selectable icons 13 corresponding to a respective currently available, but non-selectable entry space, wherein the at least one selectable icon 9 and the at least one non-selectable icon 13 are visually, in particular color, distinctly displayed in the first region 6, as shown in fig. 4. "currently available but not selectable entry space" refers to the entry space that is excluded by the current selection of parameter setting buttons 10 but is actually available. In the embodiment shown in fig. 4, since the first option toggle 10-1 is in the "parallel" option and vertical slots are excluded, the vertical slots actually available are shown as non-selectable icons 13 to give the user full slot information. Additionally or alternatively, the non-selectable icons 13 and the selectable icons 9 have the same geometric outline.

The first human-computer interface 5 further comprises at least one second icon 14, the at least one second icon 14 being configured to select a parking mode, the parking mode comprising a PARK IN ("PARK IN") mode and a PARK OUT ("PARK OUT") mode. According to a preferred embodiment, said second icon 14 is located in the first zone 6, in particular on top of the first zone 6. Preferably, the at least one second icon 14 includes a parking garage icon 14-1 for selecting a parking garage mode and a parking garage icon 14-2 for selecting a parking garage mode.

Further, the number and type of the parameter setting buttons 10 shown in the first area 6 depend on the parking mode selected by the second icon 14. In the exemplary embodiment shown in fig. 2a and 2b, the option switching buttons 10-1 and 10-2 are displayed in the case where the parking garage mode is selected. In contrast, in the exemplary embodiment shown in fig. 3a, 3b and 3c, only the option selector button 10-1 is displayed when the parking garage exit mode is selected, while the option selector button 10-2 for selecting forward parking or reverse parking is omitted, since in this case it is also simultaneously unambiguously determined whether a forward garage exit or a reverse garage exit is to be taken if only one icon 9 is selected.

According to a preferred embodiment, the first human machine interface 5 is configured such that the selected one of the park and park icons 14-1 and 14-2 has a different visual characteristic than the other one that is not selected.

Additionally or alternatively, the first icon 8 is configured to be displayed simultaneously with the second icon 14 or later than the second icon 14.

Furthermore, the first human-computer interface 5 comprises at least one third icon 15, wherein the at least one third icon 15 is configured to select a parking control type, which includes an Automatic Parking Aid (APA) and/or a Remote Parking Aid (RPA). In the illustrated embodiment of fig. 2-3, the at least one third icon 15 is located at the bottom of the first zone 6 and includes an APA icon 15-1 for selecting an automatic parking assist and an RPA icon 15-2 for selecting a remote parking assist. According to a preferred embodiment, the third icon 15 is configured to be displayed simultaneously with the first icon 8 or later than the first icon 8. Additionally or alternatively, the third icon 15 is configured such that it is generated in the interface or changed from a non-selectable icon to a selectable icon only after both the parking direction and the parking manner are properly set by the first icon 8.

Preferably, in the parking garage-out mode, no RPA icon is generated in the interface.

Further, the first human machine interface 5 is configured to generate a message prompt field 16 and at least one progress control key 17 in the first field 6 in place of the first icon 8 and the third icon 15 when the APA icon 15-1 is operated to initiate the automatic parking assist function, see fig. 5-12. The message prompt field 16 is configured to include information and/or a description related to a current parking maneuver. The at least one process control key 17 is configured to be operable to start, pause, resume, end, and/or cancel an automatic parking program, and/or return parking to start. "back to the start" refers to returning the vehicle that is performing the automatic parking operation to the point where the vehicle was at the time of the start of the automatic parking.

According to a preferred embodiment, in response to an operation of one of the at least one process control key 17, another one of the at least one process control key 17 is generated in the interface. In particular, in response to the click of the pause key, a resume key for continuing to perform the current parking operation, a return-to-start key for returning the vehicle to the parking start point, and a cancel key for canceling the current parking operation are simultaneously generated in the interface, as shown in fig. 7 and 11. The user may select to click one of these three keys as desired. This design is also suitable for the second human machine interface 18 described in detail below.

The first human-computer interaction interface 5 further comprises an alert area 20, said alert area 20 being configured to generate a prompt message and/or an alert message, for example showing an operation that the driver should perform. In the embodiment shown in the figures, the warning area 20 is located above the second area 7 to the right of the first area 6.

Fig. 13-19 show a second human machine interface 18 generated on the display device 4 of a remote terminal (e.g., a cell phone) located outside the vehicle for manipulating remote parking. The second human-machine-interaction interface 18 further comprises a manipulation zone 19, the manipulation zone 19 being configured to comprise at least one operable icon 22 having at least one manipulation function.

According to a preferred embodiment, the operable icons 22 include: a first operable icon 22-1 for launching the vehicle, a second operable icon 22-2 for turning on the remote parking garage function, a third operable icon 22-3 for starting the remote parking garage operation, a fourth operable icon 22-4 for starting the remote parking garage operation, a fifth operable icon 22-5 for manipulating parking, a sixth operable icon 22-6 for resuming the parking operation, a seventh operable icon 22-7 for returning to the beginning, a twelfth operable icon 22-12 for confirming the execution of the return to the beginning, an eighth operable icon 22-8 for canceling the parking operation about to be executed or being executed, a ninth operable icon 22-9 for turning off the vehicle, a tenth operable icon 22-10 for switching to manually controlling the vehicle, a disapproval key 22-11 for disapproval of remote parking, a parameter setting button 10. The above description of the parameter setting buttons 10 in the first human-computer interface 5 applies to the parameter setting buttons in the second human-computer interface 18.

According to a preferred embodiment, the fifth manipulatable icon 22-5 for manipulating parking is configured to cause the vehicle to travel to perform parking only when pressed by the user. That is, once the user releases the fifth manipulatable icon 22-5, the vehicle is stopped so that parking is suspended. In another preferred embodiment, the fifth manipulable icon 22-5 is configured to start the parking operation when clicked by the user and to suspend the parking operation when double-clicked by the user, wherein the fifth manipulable icon 22-5 is configured such that, when double-clicked by the user, the fifth manipulable icon 22-5 is replaced with the sixth manipulable icon 22-6 for resuming the parking operation, that is, the interface 18 is switched from the state shown in fig. 14 to the state shown in fig. 15.

According to a preferred embodiment, in case that the parking operation is suspended, when the seventh manipulable icon 22-7 for returning to the beginning is clicked, the twelfth manipulable icon 22-12 for confirming the execution of the returning to the beginning is generated in the second human machine interaction interface 18, that is, the interface 18 is switched from the state shown in fig. 15 to the state shown in fig. 16. The operation back to the beginning is performed only when the twelfth manipulatable icon 22-12 is clicked.

According to a preferred embodiment, a plurality of said actionable icons 22 are configured to be generated in the second human-machine-interaction interface 18 in a manner responsive to one another instead of one another.

Additionally or alternatively, a plurality of said actionable icons 22 are configured to be simultaneously displayed in the second human machine interface 18. In this case, one of the simultaneously displayed plurality of operable icons 22 has a highlighted visual feature, particularly a more vivid color or a significantly larger size, relative to the remaining icons.

Furthermore, the second human-machine-interaction interface 18 comprises a message bar 21 located above the manipulation area 19. The message bar is configured to display disclaimers, current progress of parking operations, safety warnings, driving notices, and the like.

Further, when the RPA icon 15-2 in the first human machine interface 5 is operated to start the remote parking assistance function, the vehicle sends an instruction to the remote terminal to wake up a vehicle control application installed in the remote terminal, thereby generating the second human machine interface 18 (see fig. 13) having the fourth manipulatable icon 22-4 for starting the remote parking garage operation in the display device 4 of the remote terminal. Then, the user can get off the vehicle and control the parking garage operation by using the remote terminal.

Fig. 21-23 show a third human-machine-interaction interface 24 generated on the display device 3 for using and controlling the panoramic image function. The third human-computer interface 24 comprises a first area 25, in which first area 25 a bird's eye view obtained by the panoramic image system is displayed. The third human-computer interface 24 also comprises a second area 26, in which the image data obtained by the panoramic image system is displayed 26.

According to a preferred embodiment, at least one selectable viewing angle selection button 28 is disposed around the vehicle body image 27 in the bird's eye view, each viewing angle selection button 28 corresponding to one image viewing angle. Also, each of the angle-of-view selection buttons 28 is arranged around the vehicle body image 27 at a specific angular position corresponding to the image angle of view it represents, respectively. When one of the view angle selection buttons 28 is selected, the image data at the image view angle corresponding to the view angle selection button 28 is displayed in the second area 26.

As shown in fig. 21, the viewing angle selection button 28 includes: a first view angle selection button 28-1 for selecting 360 panorama front view, a second view angle selection button 28-2 for 360 panorama front right view, a third view angle selection button 28-3 for selecting 360 panorama right view, a fourth view angle selection button 28-4 for selecting 360 panorama rear right view, a fifth view angle selection button 28-5 for selecting 360 panorama rear view, a sixth view angle selection button 28-6 for selecting 360 panorama rear left view, a seventh view angle selection button 28-7 for selecting 360 panorama left view, an eighth view angle selection button 28-8 for selecting 360 panorama front left view, a ninth view angle selection button 28-9 for selecting normal front view, a tenth view angle selection button 28-10 for selecting normal right view, an eleventh view angle selection button 28-11 for selecting normal rear view, a twelfth viewing angle selection button 28-12 for selecting a normal left view, a thirteenth viewing angle selection button 28-13 for selecting a front intersection emulation figure, and a fourteenth viewing angle selection button 28-14 for selecting a rear intersection emulation figure.

Furthermore, the third human-computer interface 24 further comprises a view mode setting button 29 located in the first area 25 and configured to set a view mode of the image data displayed in the second area 26. The view mode includes a normal view mode and a 360-panorama view mode. The generic view is, for example, a view from the vehicle to the surroundings, and the 360-degree view is a view from the surroundings to the vehicle.

In the illustrated embodiment, the view mode setting button 29 is configured as a single switch button, and the image view in the second area 26 can be switched from the currently shown mode to another mode by clicking the switch button. Preferably, the view mode setting button 29 is provided with a text indication showing which view mode to switch to if the view mode setting button 29 is clicked at this time.

The third human-computer interface 24 also comprises a setting button 30 located in the first area 25, said setting button 30 being configured to generate, if clicked, at least one option switch 32 of at least one parameter relating to the display of the image in the first area 25, in place of the bird's eye view image with the view angle selection button 28, as shown in fig. 23. After the installation is completed, the return key 31 may be clicked to return to the bird's-eye view image.

The second human-machine interface 18 also comprises an alert zone 20'. The above description of the alert zone 20 of the first human machine interface 5 applies to the alert zone 20'.

Furthermore, the third human-computer interaction interface 24 has a close key 33 located in the upper right corner. The user may close the third human-machine interface by clicking the close key to return to the home page of the vehicle main control unit.

Fig. 26 shows a flowchart of a method 100 for controlling a parking aid, which method is carried out with the device 1 according to the invention.

First, in step S101, the parking assist function is turned on, for example, by operating a soft switch or a hard switch for turning on the parking assist function.

Then, in a case where the parking-in-garage function is preset as a default option or selected by the user, the process goes to step S102; conversely, in the case where the parking garage exit function is preset as a default option or selected by the user, it goes to step S107.

In step S102, the first human machine interface 5, for example, as shown in fig. 2 or fig. 4, is generated on the display device 3 in place of the home page of the vehicle main control unit.

Further, in step S103, the user sets the feature of the parking operation to be performed by operating the first icon 8, for example, by operating the option switching buttons 10-1 and 10-2 and by selecting the selectable icon 9. After the setting is completed, the user selects a parking assistance control mode by clicking one of the third icons 15.

If the user clicks the APA icon 15-1 to select the automatic parking assist, step S104 is entered. If the user clicks the RPA icon 15-2 to select a remote parking assist, the remote control process 200 is entered, wherein the remote control process 200 will be described in detail below. The choice of remote parking is particularly advantageous in the following cases: the parking space is so narrow that the driver can not get off the vehicle even by opening the door after parking and warehousing.

In step S104, the vehicle control unit confirms whether the present state of the vehicle is suitable for performing the automatic parking operation in response to the received instruction to perform the automatic parking assist. At this time, the first human-machine interface 5 is as shown in fig. 5.

If it is confirmed that the current state of the vehicle is not suitable for performing the automatic parking operation, the process proceeds to step S120. In step S120, the automatic parking assist is turned off, and the first human machine interface 5 at this time is, for example, as shown in fig. 8, and then the process proceeds to step S130. In step S130, the first human-machine interface 5 is exited and jumps to the main control unit' S home page. Furthermore, if the user selects the cancel key 17 during the confirmation step S104, the above-described closing step S120 is also reached.

On the contrary, if it is confirmed that the current state of the vehicle is found to be suitable for performing the automatic parking operation, it goes to step S105. In step S105, an automatic parking garage operation is performed. The first human-machine interface 5 during which the automated parking garage is executed is shown in fig. 6. During the automatic parking garage, if the user does not pause the automatic parking operation by operating the pause key 17, the automatic parking garage operation is performed until the parking garage is completed in step S119. On the contrary, if the pause key 17 is selected during the automatic parking garage operation of step S105, it goes to step S106.

In step S106, the automatic parking operation is suspended, and the first human-machine interface 5 is shown in fig. 7. At this time, if the cancel key is selected, the above-described closing step S120 comes. If the recovery key is selected, jumping to the confirmation step S104 and resuming the current parking operation if it is determined that the current state of the vehicle is suitable for performing the automatic parking operation; if the back-to-start key is selected, it also jumps to the confirmation step S104 and returns the vehicle to the starting point again in the event that the current state of the vehicle is deemed appropriate for performing the automatic parking operation. If no instruction of the user is received after the preset time period, the step S120 is skipped to.

Further, in step S107, the first human-machine interface 5, for example, as shown in fig. 3, is generated on the display device 3 instead of the homepage of the main control unit.

Further, in step S108, the user sets the feature of the parking operation to be performed by operating the first icon 8, for example, by operating the option switching button 10-1 and by selecting the selectable icon 9. After the setting is completed, the user starts the automatic parking and delivery operation by clicking the APA icon 15-1 and proceeds to step S109.

In step S109, the vehicle control unit confirms whether the current state of the vehicle is suitable for performing the automatic parking operation in response to the received instruction to perform the automatic parking assist. At this time, the first human-computer interaction interface 5 is as shown in fig. 9.

If it is confirmed that the current state of the vehicle is not suitable for performing the automatic parking operation, the above-described closing step S120 is reached. In step S120, the first human-machine interface is shown in fig. 12, for example. Further, if the user selects the cancel key during the confirmation step S109, the above-described closing step S120 is also reached.

On the contrary, if it is confirmed that the current state of the vehicle is found to be suitable for performing the automatic parking operation, it goes to step S111. In step S111, an automatic parking garage exit operation is performed. The first human-machine interface 5 during the automatic parking of the garage is performed is shown in fig. 10. During the automatic parking garage, if the user does not pause the automatic parking operation by operating the pause key, the automatic parking garage operation is performed until the parking garage is completed in step S119. On the contrary, if the pause key 17 is selected during the automatic parking garage operation of step S111, it goes to step S112.

In step S112, the automatic parking operation is suspended, and the first human-machine interface 5 is shown in fig. 11. At this time, if the cancel key is selected, the above-described closing step S120 comes. If the back-to-start key or the resume key is selected, it jumps to the above-described confirmation step S109. If no instruction of the user is received after the preset time period, the step S120 is skipped to.

Fig. 27 shows a flowchart of a remote control flow 200 for controlling a remote parking garage. As shown in fig. 27, the RPA icon 15-2 on the first human-machine interface 5 is clicked, and the process proceeds to step S114. In step S114, the vehicle control application installed in the remote terminal is woken up in response to the signal from the vehicle, thereby generating the second human machine interface 18 as shown in fig. 13 in the display device 4 of the remote terminal. At this time, if the user selects the fourth operable icon 22-4 for starting the remote parking-garage operation, the process proceeds to step S115; if the user selects the disagree key 22-11, the process proceeds to step S140.

In step S140, the remote parking function is turned off, and then step S160 is performed. In step S160, the second human-machine interface 18 is exited and switched to the home page.

In step S115, a remote parking-garage operation is performed, and the second human-machine interaction interface at this time is as shown in fig. 14. At this time, if the user releases or double-clicks the fifth manipulatable icon 22-5 for manipulating parking, it goes to step S117; otherwise, the remote parking-garage operation is performed until the parking-garage is completed in step S116, and then it jumps to step S150. In step S150, the second human-machine interface has a ninth manipulatable icon 22-9 for turning off the vehicle and a tenth manipulatable icon 22-10 for switching to manually control the vehicle, as shown in fig. 17. At this time, the user can complete the key-off and key-on of the vehicle by clicking the ninth operational icon 22-9. Further, the user may also switch to manually controlling the vehicle by clicking on the tenth operable icon 22-10.

In step S117, the remote parking operation is suspended, and the second human machine interface 18 is shown in fig. 15. At this time, if the cancel key 22-8 is selected, it goes to the above-described closing step S140. If the resume key 22-6 is selected, the execution of step S115 is continued until the parking garage is completed. If the back-to-start key 22-7 is selected, then it goes to step S118.

In step S118, if the cancel key 22-8 is selected, it goes to the closing step S140 described above. If the resume key 22-6 is selected, it jumps to step S117. If the back-to-start key 22-7 is selected, it goes to step S121.

In step S121, an operation for returning the vehicle to the parking start point is performed, and after the execution is completed, the process proceeds to step S150 described above.

It should be noted that, when the remote parking control program in the remote terminal is activated by clicking the RPA icon 15-2 in the first human machine interface 5, the parking direction and parking manner set by the first icon 8 in the first human machine interface 5 are effective for the parking operation, and the user is not requested to perform the secondary setting in the second human machine interface 18.

Fig. 28 shows a flow chart of a method 300 for controlling remote parking, which is carried out by means of the second human-machine interface 18 according to the invention.

As shown in fig. 28, in step S301, the vehicle control application installed in the remote terminal is started to generate an application home page on the display device 4 of the remote terminal. When the user selects to perform the launch of the vehicle, a second human machine interface 18 as shown in fig. 18 is generated on the display device 4, see step S302. If the disagreement key 22-11 in the second human-computer interaction interface 18 is clicked, the closing step S140 in the process 200 is entered; if the first manipulatable icon 22-1 for launching the vehicle in the second human machine interface 18 is clicked, the vehicle is launched and then the process proceeds to step S303.

In step S303, the second human machine interface 18 is switched to the state shown in fig. 19. If the second operable icon 22-2 for opening the remote parking garage function is clicked, proceeding to step S304; if the disagreement key 22-11 is clicked, the flow proceeds to the close step S140 in the flow 200.

Next, in step S304, the second human-machine interface 18 presents the state as shown in fig. 20. The user can set the ex-warehouse mode and the ex-warehouse direction by using the interface. After the setup is completed, the user may start the parking garage operation by clicking the third operable icon 22-3 for starting the remote parking garage operation. Once the third operable icon 22-3 is clicked, it jumps to step S115 described above.

Further, if the remote terminal receives an instruction for executing a remote parking garage from the vehicle, it jumps to execution of the remote control flow 200 described above.

It should be noted that, if necessary, the icons in the human-computer interaction interface mentioned herein may have a text indication.

Furthermore, it should be noted that the description herein of the second area 26 of the third human machine interface 24 applies equally to the second zone 7 of the first human machine interface 5.

Although some embodiments have been described, these embodiments have been presented by way of example only, and are not intended to limit the scope of the invention. The appended claims and their equivalents are intended to cover all such modifications, substitutions and changes as fall within the true scope and spirit of the invention.

Claims

1. A method for controlling a parking assist, the method comprising:

generating a first human-machine interface (5) for controlling a parking assistance on a display device;

wherein the first human-machine interface (5) comprises a first region (6), the first region (6) being configured to: generating at least one icon with at least one control function on the first area (6) when the parking aid function is switched on; the first human-machine interface further comprises a second region (7), the second region (7) being configured for displaying detection data related to the vehicle surroundings.

2. The method according to claim 1, characterized in that it comprises:

upon detecting that a space for parking is present around the vehicle, at least one first icon (8) is generated in the first human-machine interface (5), which is configured to set characteristics of a parking operation to be performed, including a parking direction and/or a parking manner, and the at least one first icon (8) includes at least one selectable icon (9), each of which corresponds to a respective space that can be accessed.

3. The method of claim 2,

the at least one icon further comprises a vehicle icon (11) for representing a vehicle, each of the selectable icons (9) being configured to be arranged in a particular orientation and position relative to the vehicle icon (11) to represent the orientation and position in the real environment of its corresponding navigable space, wherein the orientation and position in the real environment of the navigable space is determined by the vehicle environment data; and the number of the first and second electrodes,

the method comprises the following steps: the parking direction and/or the parking mode is set by selecting one of the at least one selectable icon (9) as a target parking space.

4. The method according to claim 2 or 3,

the first icon (8) further comprises at least one parameter setting button (10), the at least one parameter setting button (10) being configured for setting a parameter relating to a characteristic of a parking operation to be performed, the parameter comprising: -the type of target parking space, in reverse or forward mode, and/or parking left or right, wherein the parameter setting button (10) is configured as an option switching button for switching between different preset options for the parameter, and wherein the at least one selectable icon (9) is displayed in response to setting of the parameter by the parameter setting button (10); and/or

The at least one first icon (8) further comprises at least one non-selectable icon (13), each of which corresponds to a currently available but non-selectable entry space, respectively, wherein the at least one selectable icon (9) has a different visual characteristic than the at least one non-selectable icon (13), wherein the selectable icon (9) and/or the non-selectable icon (13) is in the form of a rectangle; and/or

When one of the selectable icons (9) is selected, a directional arrow (12) is generated in the first human-machine interface (5) pointing from the vehicle icon (11) to the selected icon (9), the configuration of the directional arrow approximately describing a parking trajectory.

5. The method according to any of the preceding claims,

the at least one icon further includes at least one second icon (14) configured to select a parking mode including a parking-in mode and a parking-out mode, and the first icon is displayed based on the parking mode selected through the second icon (14).

6. The method according to any of the preceding claims,

the at least one icon further includes at least one third icon (15) configured to select a parking control type including an Automatic Parking Aid (APA) and a Remote Parking Aid (RPA).

7. The method of claim 6, wherein the method comprises:

generating at least one progress control key (17) in the first region (6) in place of the at least one first icon (8) and the at least one third icon (15) when the third icon is operated to select the Automatic Parking Aid (APA), wherein the at least one progress control key (17) is configured to be operable to start, pause, resume, end and/or cancel, respectively, the automatic parking program, and/or to return the vehicle to a position where the vehicle was when the automatic parking program started;

when the third icon is operated to select the Remote Parking Aid (RPA), a vehicle control application installed in the remote terminal for controlling the remote parking aid is woken up to generate a second human-machine interaction interface (18) on a display device (4) of the remote terminal, wherein the second human-machine interaction interface (18) includes at least one operable icon (22) for controlling the remote parking aid.

8. The method of claim 7,

the at least one operable icon (22) is respectively configured to be operable to start, pause, resume, end and/or cancel a remote parking program, and the at least one operable icon (22) includes an icon (22-5) for handling parking configured to cause the vehicle to travel to perform parking only when pressed by a user; and/or

When the second man-machine interaction interface (18) has two or more operable icons (22) at the same time, one of the operable icons (22) is highlighted relative to the remaining operable icons.

9. The method according to any of the preceding claims,

the first area (6) and the second area (7) are displayed in parallel on the display device; and/or

When one of the selectable icons (9) is selected, the icon is highlighted; and/or

The detection data is panoramic image data, and a bird's-eye view obtained by a panoramic image system and at least one selectable viewing angle selection button (28) are displayed in the first area, each viewing angle selection button corresponding to one image viewing angle respectively, so that when one of the viewing angle selection buttons is selected by a user, image data at the image viewing angle corresponding to the viewing angle selection button is displayed in the second area, wherein each of the viewing angle selection buttons (28) is arranged around a vehicle body image (27) in the bird's-eye view at a specific angular position corresponding to the image viewing angle represented by the viewing angle selection button respectively.

10. An apparatus for controlling a parking aid, the apparatus comprising a computer-readable storage medium having a computer program stored thereon, which, when being executed by a processor, carries out the method according to any one of the preceding claims.