CN113276845A - Automatic parking method with display enhancement function - Google Patents
Automatic parking method with display enhancement function Download PDFInfo
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- CN113276845A CN113276845A CN202110750735.6A CN202110750735A CN113276845A CN 113276845 A CN113276845 A CN 113276845A CN 202110750735 A CN202110750735 A CN 202110750735A CN 113276845 A CN113276845 A CN 113276845A
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- 238000000034 method Methods 0.000 title claims abstract description 29
- 239000003550 marker Substances 0.000 claims abstract description 37
- 230000000877 morphologic effect Effects 0.000 claims abstract description 11
- 238000006073 displacement reaction Methods 0.000 claims abstract description 7
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
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- 238000005065 mining Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/06—Automatic manoeuvring for parking
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- Automation & Control Theory (AREA)
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Abstract
The invention belongs to the technical field of automatic parking, and discloses an automatic parking method with a display enhancement function, which comprises the following steps: calculating the relative displacement of the vehicle through a dead reckoning algorithm based on the CAN line real-time data of the vehicle to form a vehicle moving track; calculating the relative position relation between the parking space and the marker according to the positions of the parking space and the marker on the periphery of the parking space; and generating a local map based on the vehicle movement track according to the morphological characteristics of the parking space and the marker and the relative position relation between the parking space and the marker. The marker and the parking space capable of being parked are drawn into the map and displayed in the HM I, so that more information which is easier to match with the real world is displayed in the display interface, a user can more easily select the parking space to be parked when selecting the parking space, the parking convenience is improved, the misoperation times of the user are reduced, and the user experience is improved.
Description
Technical Field
The invention belongs to the technical field of automatic parking, and particularly relates to an automatic parking method with a display enhancement function.
Background
An automatic parking system is a driving assistance system that helps a driver to identify an available parking space and automatically drive a vehicle into the parking space. The cameras and the ultrasonic radar on the automatic parking and mining vehicle sense the surrounding environment, plan the parking method and path in the central processing unit, and control the vehicle to automatically drive to the parking space.
The current automatic parking system requires manual opening. When the driver drives the vehicle to the position near the parking space where the driver wants to park, the driver manually selects or clicks the key to start the parking system, and therefore parking is finished. However, the vehicles displayed on the parking interface are all virtual models, other reference objects are not available, the parking space which is required to be parked is difficult to select, and if more information which is easier to match with the real world exists in the display interface, a user can more easily select the parking space which is required to be parked when selecting the parking space, so that the efficiency of the system is greatly improved.
Disclosure of Invention
The invention aims to provide an automatic parking method with a display enhancement function, which aims to solve the existing problems.
In order to achieve the purpose, the invention provides the following technical scheme: an automatic parking method with display enhancement function, comprising the steps of:
calculating the relative displacement of the vehicle through a dead reckoning algorithm based on the CAN line real-time data of the vehicle to form a vehicle moving track;
calculating the relative position relation between the parking space and the marker according to the positions of the parking space and the marker on the periphery of the parking space;
and generating a local map based on the vehicle movement track according to the morphological characteristics of the parking space and the marker and the relative position relation between the parking space and the marker.
As an automatic parking method with a display enhancement function according to the present invention, it is preferable that the method further includes, after generating a local map based on the vehicle movement trajectory according to the morphological characteristics of the parking space and the marker and the relative positional relationship between the parking space and the marker, the steps of:
displaying the local map into the HIM.
As an automatic parking method with a display enhancement function according to the present invention, preferably, after generating a local map based on the vehicle movement trajectory according to the morphological characteristics of the parking space and the marker and the relative positional relationship between the parking space and the marker, the method further includes:
as an automatic parking method with a display enhancement function according to the present invention, it is preferable that S500 automatically parks the vehicle in a designated parking space according to the local map.
As an automatic parking method with a display enhancement function according to the present invention, it is preferable that the method includes, before the vehicle moves along a track, the steps of calculating the relative displacement of the vehicle by dead reckoning based on the real-time data of the CAN line of the vehicle, and forming the vehicle movement track:
detecting the parking space and the markers around the parking space, and recording the position and the shape characteristics of the parking space and the markers.
As an automatic parking method with a display enhancement function according to the present invention, it is preferable that the markers include a speed bump, a pillar, and a ground-specific mark.
As a method for automatic parking with a display enhancement function according to the present invention, it is preferable that the morphological characteristics include the size, shape and position of the parking space and the marker.
As an automatic parking method with a display enhancement function according to the present invention, it is preferable that the ground-specific mark includes a traffic indication line and a landmark.
Compared with the prior art, the invention has the following beneficial effects: the invention obtains the parking space and the markers such as the deceleration strip, the upright post, the driving indication line, the landmark and the like near the parking space through the ultrasonic sensor and the camera which are arranged on the vehicle, obtains the driving track of the vehicle in real time, draws the markers and the parking space into a map and displays the map in the HMI, so that more information which is more easily matched with the real world is provided in the display interface, the user can select the parking space to be parked more easily when selecting the parking space, the parking convenience is improved, the misoperation times of the user are reduced, and the user experience is improved.
Drawings
FIGS. 1-4 are flow diagrams of one embodiment of the present invention;
fig. 5 is a flow chart of another embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, the present invention provides the following technical solutions: an automatic parking method with display enhancement function, comprising the steps of:
s100, calculating the relative displacement of the vehicle through a dead reckoning algorithm based on the CAN line real-time data of the vehicle to form a vehicle moving track;
s200, calculating the relative position relation between the parking space and the marker according to the positions of the parking space and the marker on the periphery of the parking space;
s300, generating a local map based on the vehicle movement track according to the form characteristics of the parking space and the marker and the relative position relation between the parking space and the marker.
In the embodiment, the camera installed on the vehicle shoots the parking space and the markers near the parking space, the markers include but are not limited to speed bumps, columns and ground special marks, the distance between the markers and the parking space is calculated, the sizes of the parking space and the markers are calculated, an equal-scale map is drawn according to the sizes of the parking space and the markers, and the map is displayed in the HMI, so that more information which is easily matched with the real world is provided in a display interface, a user can select the parking space to be parked easily when selecting the parking space, the parking convenience is improved, the number of times of misoperation of the user is reduced, and the user experience is improved.
Referring to fig. 2, specifically, after the step S300 of generating a local map based on the vehicle movement track according to the morphological characteristics of the parking space and the marker and the relative position relationship between the parking space and the marker, the method includes the steps of:
s400, displaying the local map to the HIM.
In this embodiment, the HIM is a central display device mounted on the vehicle itself.
Referring to fig. 3, specifically, after the step S300 of generating the local map based on the vehicle movement track according to the morphological characteristics of the parking space and the marker and the relative position relationship between the parking space and the marker, the method further includes the steps of:
and S500, automatically parking the vehicle into the designated parking space according to the local map.
In this embodiment, after the user selects the parking space to be parked through the HIM, the automatic parking system is started to automatically park the vehicle in the selected parking space.
Referring to fig. 4, specifically, before the step S100 of calculating the relative displacement of the vehicle by a dead reckoning algorithm based on the real-time data of the vehicle CAN line to form the vehicle movement track, the method includes the steps of:
s10, detecting the parking space and the marker around the parking space, and recording the position and the form characteristics of the parking space and the marker.
Specifically, the marker comprises a speed bump, a stand column and a ground special marker.
Specifically, the morphological characteristics include the size, shape and location of the parking space and the marker.
Specifically, the ground-specific mark includes a traffic indication line and a landmark.
Referring to fig. 5, another embodiment of the present invention comprises the steps of:
s1 camera for detecting upright post, deceleration strip and ground mark
S2, recording the motion track of the vehicle by using the sensor of the vehicle;
s3, calculating the position relation between the detected special mark and the vehicle;
after the parking space is detected, the S4 depicts the special mark and the parking space on the HMI.
The invention detects more elements which are easy to match with the display world through the camera, including but not limited to deceleration strips, columns and ground special marks. And correctly presenting the detected elements and the parking spaces to an HMI interface according to the corresponding relation of the real world.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (7)
1. An automatic parking method with a display enhancement function, characterized by comprising the steps of:
s100, calculating the relative displacement of the vehicle through a dead reckoning algorithm based on the CAN line real-time data of the vehicle to form a vehicle moving track;
s200, calculating the relative position relation between the parking space and the marker according to the positions of the parking space and the marker on the periphery of the parking space;
s300, generating a local map based on the vehicle movement track according to the form characteristics of the parking space and the marker and the relative position relation between the parking space and the marker.
2. The automatic parking method with the display enhancement function according to claim 1, wherein the vehicle as a whole comprises the following steps after the step S300 generates a local map based on the vehicle movement track according to the morphological characteristics of the parking space and the marker and the relative position relationship between the parking space and the marker:
s400, displaying the local map to the HIM.
3. The automatic parking method with the display enhancement function according to claim 1, further comprising, after the step S300 of generating a local map based on the vehicle movement trajectory according to the morphological characteristics of the parking space and the marker and the relative positional relationship between the parking space and the marker, the steps of:
and S500, automatically parking the vehicle into the designated parking space according to the local map.
4. The automatic parking method with the display enhancement function according to claim 1, wherein before calculating the relative displacement of the vehicle by a dead reckoning algorithm based on the real-time data of the vehicle CAN line at S100, forming the moving track of the vehicle, the method comprises the steps of:
s10, detecting the parking space and the marker around the parking space, and recording the position and the form characteristics of the parking space and the marker.
5. The method for automatic parking with display enhancement function according to claim 4, wherein the markers comprise speed bumps, posts and ground-specific markers.
6. The method for automatic parking with display enhancement according to claim 4, wherein the morphological characteristics include the size, shape and location of the parking space and the markers.
7. The automatic parking method with display enhancement function according to claim 5, wherein the ground specific identification comprises a driving indication line and a landmark.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110750735.6A CN113276845A (en) | 2021-07-02 | 2021-07-02 | Automatic parking method with display enhancement function |
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| CN202110750735.6A CN113276845A (en) | 2021-07-02 | 2021-07-02 | Automatic parking method with display enhancement function |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114194180A (en) * | 2021-12-28 | 2022-03-18 | 阿波罗智联(北京)科技有限公司 | Method, device, equipment and medium for determining auxiliary parking information |
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| CN111274974A (en) * | 2020-01-21 | 2020-06-12 | 北京百度网讯科技有限公司 | Positioning element detection method, device, equipment and medium |
| CN111891119A (en) * | 2020-06-28 | 2020-11-06 | 东风汽车集团有限公司 | Automatic parking control method and system |
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2021
- 2021-07-02 CN CN202110750735.6A patent/CN113276845A/en active Pending
Patent Citations (7)
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| JP2010151829A (en) * | 2010-02-12 | 2010-07-08 | Toyota Motor Corp | Own vehicle positioning system |
| CN107063236A (en) * | 2017-05-03 | 2017-08-18 | 蒋劭恒 | Positioning and navigation system and implementation method in a kind of building |
| CN108959321A (en) * | 2017-05-25 | 2018-12-07 | 纵目科技（上海）股份有限公司 | Parking lot map constructing method, system, mobile terminal and storage medium |
| CN108121345A (en) * | 2017-12-20 | 2018-06-05 | 东风汽车集团有限公司 | A kind of parking stall addressing system and method suitable for parking lot |
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Application publication date: 20210820 |