CN117246308A

CN117246308A - Method for operating a parking assistance system for a motor vehicle and parking assistance system

Info

Publication number: CN117246308A
Application number: CN202210660412.2A
Authority: CN
Inventors: 韦兵
Original assignee: Valeo Interior Controls Shenzhen Co Ltd
Current assignee: Valeo Interior Controls Shenzhen Co Ltd
Priority date: 2022-06-10
Filing date: 2022-06-10
Publication date: 2023-12-19
Also published as: WO2023237072A1

Abstract

The present disclosure relates to a method of operating a park assist system for a motor vehicle, comprising: collecting environmental data indicative of an environment surrounding the motor vehicle; determining an empty parking space in front of the motor vehicle based on the environmental data; determining a forward parking mode based on the determined parking space; and autonomously forward parking the motor vehicle into the determined parking space in accordance with the determined forward parking pattern. The invention further relates to a computer program product, a computer-readable storage medium, a parking assistance system for a motor vehicle and a motor vehicle, which correspond to the above-described method.

Description

Method for operating a parking assistance system for a motor vehicle and parking assistance system

Technical Field

The present disclosure relates to the field of motor vehicles, and more particularly to a method of operating a parking assistance system for a motor vehicle, a computer program product, a computer-readable storage medium, a parking assistance system for a motor vehicle, and a motor vehicle.

Prior Art

Currently, parking assistance systems are increasingly put into use in the motor vehicle sector, in particular in the automotive sector. For this purpose, the parking assistance system must, for example, know the parking space in which the motor vehicle is to be parked. This means that the parking assistance system must detect the parking space before the user starts the parking process. In this case, the parking assistance system usually detects an empty parking space located in the surroundings of the motor vehicle by means of a distance sensor, i.e. for example an ultrasonic sensor, which is arranged on the motor vehicle.

Conventionally, due to the limited sensing range of the ultrasonic sensor, it is often impossible to detect an empty parking space in advance if the motor vehicle has not driven through the empty parking space. Therefore, it is often necessary to mount the ultrasonic sensor on a side surface of the motor vehicle, for example, the right side surface. During the driving of the motor vehicle, the ultrasonic sensor mounted on the side acquires ambient information that characterizes the ambient through which the motor vehicle is driving. Under the condition that the parking auxiliary system detects an idle parking space according to the collected surrounding environment information, the parking auxiliary system plans a parking path and controls the motor vehicle to be poured into the detected idle parking space backwards.

As described above, in the case of using the conventional parking assist system, the motor vehicle first needs to travel through the free parking space to realize detection of the free parking space. And after the idle parking space is determined, the motor vehicle needs to be poured into the idle parking space to realize parking. Thus, a long time is required for detection of the free parking space. And in case of shortage of parking spaces, before the motor vehicle is poured into the free parking space, the rear vehicle may have already been parked into the free parking space or immediately followed by the motor vehicle, so that the parking failure is caused by the failure to park into the detected free parking space. In other words, the conventional parking assist system is inefficient in parking.

Accordingly, there is a need for a method of operating a parking assistance system for a motor vehicle and a parking assistance system that are efficient in parking.

Disclosure of Invention

The present disclosure provides a method of operating a park assist system for a motor vehicle. According to the method disclosed by the invention, the detection of the idle parking space can be realized in advance under the condition that the idle parking space is not driven. And determining a forward parking mode and autonomously parking the motor vehicle forward into the parking space based on the detected free parking space. Therefore, the method has the advantages of quick parking, high parking efficiency, high parking success rate and the like.

Furthermore, the present disclosure also provides a parking assistance system, a computer program product, a computer-readable storage medium and a motor vehicle, for implementing the above-described method according to the present disclosure. Correspondingly, the system has the advantages of high parking speed, high parking efficiency, high parking success rate and the like.

In the sense of the present disclosure, a motor vehicle may be any vehicle. Preferred motor vehicles are, for example, automobiles, trains. Particularly preferred are automobiles, such as passenger cars or trucks.

A first aspect of the present disclosure relates to a method of operating a park assist system for a motor vehicle, comprising: collecting environmental data indicative of an environment surrounding the motor vehicle; determining an empty parking space in front of the motor vehicle based on the environmental data; determining a forward parking mode based on the determined parking space; and autonomously forward parking the motor vehicle into the determined parking space in accordance with the determined forward parking pattern.

In the method according to the disclosure, a free parking space in front of the motor vehicle is determined, instead of the detection of the free parking space being effected if the motor vehicle passes through the free parking space. Therefore, the time required for detecting the idle parking spaces is reduced, and the parking efficiency is improved. And based on the determined parking space, a forward parking mode to be executed can be determined in advance and the motor vehicle can be parked into the parking space in a forward parking rather than an pouring manner. Therefore, the situation that the parking space is occupied and parking cannot be completed due to the fact that the rear vehicle enters the parking space determined previously by the parking auxiliary system under the condition that the parking space is tense can be effectively prevented, or the automatic parking failure caused by the fact that the rear vehicle cannot enter the parking space (for example, the parking path which is driven through in advance is occupied by the rear vehicle) which is detected to be free due to the fact that the rear vehicle is immediately followed can be effectively prevented. Therefore, the method has the advantages of quick parking, high parking success rate and the like.

According to a more detailed embodiment of the method according to the present disclosure, in the method according to the present disclosure, the environmental data comprises environmental image data indicative of an environment surrounding the motor vehicle, wherein the environmental image data is acquired by means of a front view camera and/or a pan around camera of the motor vehicle.

Here, in the method according to the present disclosure, the environmental data may be, for example, environmental image data. And in order to ensure that an empty parking space can be reliably acquired in the forward direction, a forward looking camera and/or a through looking camera is used in the method according to the present disclosure for environmental image data acquisition. By means of the camera, reliable collection of free parking spaces, in particular transverse parking spaces, in the forward direction of travel of the motor vehicle can be achieved, taking into account the relatively large effective sensing range of the camera. In this way, it is ensured that the parking assistance system can reliably park the motor vehicle in a forward parking space.

According to a more detailed embodiment of the method according to the present disclosure, in the method according to the present disclosure, determining the parking space includes: determining marking information about a marking on the ground based on the environmental image data; and/or determining object information about objects located in the vicinity of the motor vehicle from the ambient image data.

According to a more detailed embodiment of the method according to the present disclosure, in the method according to the present disclosure, determining the parking space further includes: and determining a parking space in front of the motor vehicle according to the determined marking information and/or the determined object information.

In the method according to the disclosure, the parking space into which the motor vehicle is desired to be parked can be determined by means of marking information or the like on the ground on which the motor vehicle is located. Or in the case of a lack of marking information, for example, on the ground, it is also possible in the method according to the disclosure to determine, by means of a determination of object information about objects located in the vicinity of the motor vehicle, whether there is a free parking space and, as a function of this, a parking space in which the motor vehicle is expected to be parked. The method according to the disclosure thus makes it possible to reliably find or determine the parking space in which a motor vehicle is expected to be parked in different parking situations.

According to a more detailed embodiment of the method according to the present disclosure, in the method according to the present disclosure, the marking information is a parking space line information, wherein a parking space located in front of the motor vehicle is determined according to a parking space line identification algorithm.

In the method according to the disclosure, for example, in the case of a real parking scene in which a parking space is defined by a space line, the parking assistance system can, for example, evaluate the environmental image data acquired by means of the front-view camera and/or the ring-view camera by means of a space line recognition algorithm, recognize the space line present in the environmental image and thus determine the parking space located in front of the motor vehicle.

According to a more detailed embodiment of the method according to the present disclosure, in the method according to the present disclosure, further comprising determining a forward parking mode based on a distance of the motor vehicle from the parking space and based on the determined occupancy information in the extending direction of the parking space.

Here, in the method according to the present disclosure, an appropriate forward parking mode may also be determined to complete parking. The forward parking pattern adapted to this can be determined taking into account the distance of the motor vehicle from the parking space, whether there is additional vehicle occupation in the direction of extension of the parking space (in particular in a direction parallel to the direction of travel of the motor vehicle), etc. Therefore, flexible selection of the forward parking mode can be realized, and the rapidness and the parking success rate of parking are further improved.

Specifically, according to a more detailed embodiment of the method of the present disclosure, the method further comprises determining a first forward parking mode if the distance of the motor vehicle from the parking spot is greater than a distance threshold, wherein the first forward parking mode comprises the motor vehicle being parked directly forward into the determined parking spot.

Specifically, according to a more detailed embodiment of the method of the present disclosure, the method further comprises determining a second forward parking mode in the event that the distance of the motor vehicle from the parking space is less than a distance threshold and there is no occupancy in the direction of extension of the parking space, wherein the second forward parking mode comprises: the motor vehicle is parked forward into the determined parking space, the motor vehicle continues to travel until the motor vehicle direction is adjusted to be parallel to the extension direction of the parking space, and the motor vehicle is directly poured into the parking space.

Specifically, according to a more detailed embodiment of the method of the present disclosure, the method further comprises determining a third forward parking mode in the event that the distance of the motor vehicle from the parking space is less than a distance threshold and there is occupancy in the direction in which the parking space extends, wherein the third forward parking mode comprises: the motor vehicle is parked forward into the determined parking space, the motor vehicle is steered out of the parking space, and the motor vehicle is steered into the parking space.

In this case, in the method according to the disclosure, by taking into account both the distance of the motor vehicle from the parking space and the occupancy information in the extension direction of the parking space, different forward parking patterns can be determined, which are adapted to this, and forward parking can be carried out more efficiently in a more flexible manner. Thereby, the efficiency of forward parking is further improved.

According to a more detailed embodiment of the method of the present disclosure, the method further comprises determining a path of the motor vehicle from a current location of the motor vehicle to a target location of the motor vehicle, wherein the target location is located in the parking space, in accordance with the determined forward parking pattern.

In the method according to the disclosure, a parking path is determined, for example by means of a parking path planning algorithm, in accordance with the determined forward parking mode, in which different forward parking modes can be implemented. Thereafter, the parking assistance system may control the motor vehicle to move in accordance with the determined parking path to park the motor vehicle in the determined parking space in accordance with the determined parking pattern.

According to a more detailed embodiment of the method according to the present disclosure, in the method according to the present disclosure, the parking space is a lateral parking space.

Here, in the method according to the present disclosure, since the front-view camera and/or the around-view camera are used to perform the collection of the environmental image data, not only the reliable collection of the longitudinal parking space but also the reliable collection of the lateral parking space can be achieved. Therefore, according to the method disclosed by the invention, the motor vehicle can be parked into the parking space in advance in a forward parking mode, and the forward parking efficiency and success rate are improved.

In summary, according to the method disclosed by the invention, the detection of the idle parking spaces can be realized in advance. And based on the detected free parking space, a forward parking mode can be determined and the motor vehicle can be autonomously parked forward into the parking space. Therefore, the method disclosed by the invention has the advantages of high parking speed, high parking efficiency, high parking success rate and the like.

A second aspect of the present disclosure relates to a computer program product comprising instructions which, when said program is executed by a computer, cause the computer to perform the above-described method of operating a park assist system for a motor vehicle according to the present disclosure. Thus, the computer program product according to the present disclosure has advantages corresponding to the method of operation of the park aid system for a motor vehicle according to the present disclosure, which is not described in detail herein for brevity.

A third aspect of the present disclosure relates to a computer-readable storage medium having stored thereon a computer program or instructions which, when executed by a processor, implement the steps of a method of operating a park assist system for a motor vehicle according to the present disclosure to assist the motor vehicle in parking. Thus, the computer-readable storage medium according to the present disclosure has advantages corresponding to the method of operating the parking assistance system for a motor vehicle according to the present disclosure, and will not be described in detail herein for brevity.

A fourth aspect of the present disclosure relates to a park assist system for a motor vehicle, comprising: a processor, a memory storing computer programs or instructions which, when executed by the processor, implement the steps of the method of operation of a park assist system for a motor vehicle according to the present disclosure to assist the motor vehicle in parking. Thus, the parking assistance system according to the present disclosure has advantages corresponding to the operation method of the parking assistance system for a motor vehicle according to the present disclosure, and a detailed description thereof will not be given here for brevity.

A fifth aspect of the present disclosure relates to a park assist system for a motor vehicle, comprising: an environment acquisition unit configured to acquire environment data indicative of an environment surrounding the motor vehicle; a parking space determination unit configured to determine an empty parking space located in front of the motor vehicle based on the environmental data; a parking pattern determining unit configured to determine a forward parking pattern based on the determined free parking space; and a control unit configured to autonomously forward park the motor vehicle into the determined parking space in accordance with the determined forward parking mode. The parking assistance system according to the present disclosure has advantages corresponding to the operation method of the parking assistance system for a motor vehicle according to the present disclosure, and a detailed description thereof will not be given here for brevity.

A sixth aspect of the present disclosure relates to a motor vehicle comprising a park assist system for a motor vehicle according to the present disclosure as described above. Thus, the motor vehicle according to the present disclosure has advantages corresponding to the parking assist system according to the present disclosure, and a detailed description thereof will not be given here for brevity.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, reference numerals used in the description of the embodiments will be briefly introduced below. It should be apparent that the drawings in the following description are only some exemplary embodiments of the present disclosure, and that other drawings may be obtained without inventive effort for those of ordinary skill in the art.

FIG. 1 illustrates a flow chart of a method of operating a park assist system for a motor vehicle according to the present disclosure;

fig. 2-3 show schematic diagrams of usage scenarios corresponding to methods according to the present disclosure;

FIG. 4 illustrates a flow chart of a more detailed embodiment of a method of operating a park assist system for a motor vehicle according to the present disclosure;

FIG. 5 shows a schematic view of a first forward park mode;

FIG. 6 shows a schematic diagram of a second forward park mode;

FIG. 7 shows a schematic view of a third forward park mode;

FIG. 8 illustrates a schematic view of a park assist system according to the present disclosure;

FIG. 9 shows a schematic diagram of a park assist system according to the present disclosure;

fig. 10 shows a schematic view of a motor vehicle according to the present disclosure.

Detailed Description

In order to make the objects, technical solutions and advantages of the present disclosure more apparent, exemplary embodiments according to the present disclosure will be described in detail with reference to the accompanying drawings. It is apparent that the described examples are only some embodiments of the present disclosure, and not all embodiments of the present disclosure, and it is to be understood that the present disclosure is not limited by the example embodiments described herein.

Furthermore, in the present specification and drawings, substantially the same or similar steps and elements are denoted by the same or similar reference numerals, and repeated descriptions of the steps and elements will be omitted.

Furthermore, in the present specification and drawings, elements are described in the singular or plural form according to the embodiments. However, the singular and plural forms are properly selected for the proposed case only for convenience of explanation and are not intended to limit the present disclosure thereto. Accordingly, the singular may include the plural and the plural may include the singular unless the context clearly indicates otherwise.

Furthermore, in the description and drawings, references to "first", "second", are only for distinguishing between similar objects and not representing a particular ordering of objects, it being understood that the "first", "second", where permitted, may be interchanged with a particular order or precedence, to enable embodiments of the disclosure described herein to be implemented in an order other than that illustrated or described herein.

Furthermore, in the present specification and the drawings, terms relating to azimuth or positional relationship such as "upper", "lower", "middle", and the like are used merely for convenience in describing embodiments according to the present disclosure, and are not intended to limit the present disclosure thereto. And thus should not be construed as limiting the present disclosure.

Furthermore, in the present specification and drawings, if a flowchart is used to describe steps of a method according to an embodiment of the present disclosure, it should be understood that the preceding or following steps are not necessarily performed in order. Rather, the various steps may be processed in reverse order or concurrently unless the embodiments of the present disclosure are clearly defined. Also, other operations may be added to or removed from these processes.

According to a first aspect of the present disclosure, a method of operating a park assist system for a motor vehicle is provided. Fig. 1 shows a flow chart of a method of operating a parking assistance system for a motor vehicle according to the present disclosure. Fig. 2-3 show schematic diagrams of usage scenarios corresponding to methods according to the present disclosure. For clarity, the method of operation of the park assist system for a motor vehicle according to the present disclosure will be described in conjunction with fig. 1, 2 and 3.

According to an embodiment of the present disclosure, the method 100 includes: in step S110, environmental data indicating an environment 220 surrounding the motor vehicle 210 (see fig. 2) is acquired; in step S120, an empty parking space 230 (see fig. 3) located in front of the motor vehicle 210 is determined based on the environmental data; in step S130, a forward parking mode is determined based on the determined parking space 230; and in step S140, autonomously forward parking the motor vehicle into the determined parking space in accordance with the determined forward parking mode.

As previously mentioned, in conventional auxiliary parking schemes, it is generally necessary that the motor vehicle 210 continue traveling in the travel direction 240 and that the detection of an empty parking space 230 is only achieved after traveling through the empty parking space 230. Then, when an empty parking space 230 is detected, a reverse parking is required to be performed to the detected parking space 230. In other words, on the one hand, the motor vehicle 210 first needs to travel a longer distance and travel over the free space to enable detection of the free space, resulting in a longer time and lower efficiency required for determining the free space. On the other hand, after detecting an empty parking space 230, before or during pouring the motor vehicle 210 into the parking space 230, the rear vehicle following the motor vehicle 210 may have turned the rear vehicle head into the parking space 230 and partially or fully occupy the parking space 230 such that the motor vehicle 210 cannot be poured into the parking space 230 any more, resulting in a low parking success rate. Furthermore, in the case of a following vehicle following the motor vehicle 210, there may also be cases where there is insufficient space for the motor vehicle 210 to be poured into the parking space 230 due to the following vehicle being in close contact (e.g., the pre-driven parking path is occupied by the following vehicle), which may also result in failure of automatic parking of the motor vehicle 210 and a low parking success rate.

In contrast, in the method 100 for operating a parking assistance system for a motor vehicle according to the present disclosure, on the one hand, a free parking space 230 in front of the motor vehicle 210 is determined if the motor vehicle 210 has not yet driven over the free parking space 230. Due to the "advanced" detection of the free parking space 230, the motor vehicle no longer needs to travel through the free parking space 230, which reduces the time required for detecting the parking space 230 and improves the parking efficiency. And on the other hand, after the parking space 230 is determined, the motor vehicle 210 is parked into the parking space 230 in a forward-parking rather than an pouring manner. Thus, the above-described automatic parking failure due to the rear vehicle occupying the parking space 230 in advance or the rear vehicle being closely attached to the motor vehicle 210 that is being parked in advance can be effectively prevented. Thus, the method 100 has advantages of high parking efficiency, high parking success rate, and the like.

Furthermore, in order to achieve reliable "early" detection of the free parking space 230 located in front of the motor vehicle 210, it is necessary that the effective sensing range of the sensor for detecting the free parking space 230 is capable of effectively covering the free parking space 230 in front of the motor vehicle 210. For this purpose, a more detailed embodiment of the method for operating a parking assistance system for a motor vehicle is proposed. As shown in fig. 2 and 3, in a method 100 according to the present disclosure, the environmental data includes environmental image data indicative of an environment surrounding the motor vehicle, wherein the environmental image data is acquired by means of a front-view camera 250 and/or a look-around camera 260 of the motor vehicle.

In conventional auxiliary parking schemes, ultrasonic sensors are often used to detect free parking spaces for cost reasons. For example, according to the Chinese industry standard 'urban road parking berth setting Specification (GA/T850-2009)', the method is suitable for large berths of large and medium-sized vehicles, the length is 15600mm, the width is 3250mm, and the method is suitable for small berths of small vehicles, the length is 6000mm, and the width is 2500mm. This means that, in particular in the case of transverse parking spaces, the effective sensing range of the ultrasonic sensor used is required to be greater than the parking space length, i.e. 6000mm, even for small parking spaces. However, the effective sensing distance of the ultrasonic sensors currently used for automatic parking is only 4 to 6 meters. This means that the effective sensing range of the ultrasonic sensor used in the conventional parking assistance system cannot effectively cover the parking space, and forward parking cannot be achieved according to the method 100 of the present disclosure.

In the method 100 according to the present disclosure, however, the forward looking camera 250 and/or the look-around camera 260 are used for environmental image data acquisition, considering that the effective sensing range of the camera is greater than that of the ultrasonic sensors used in the conventional parking assistance system, which can effectively cover the parking space. For example, the environment 220 around the motor vehicle 210 is recorded by means of a plurality of pan-around cameras, i.e. for example, an existing 360 ° pan-around (panoramic image) system on the motor vehicle 210, and the images recorded by the individual pan-around cameras are image-fused, so that environment data of the environment 220 around the motor vehicle 210 are obtained. The environmental data of the environment 220 surrounding the motor vehicle 210 can also be captured, for example, by means of an existing front-view camera 250 on the motor vehicle 210, whereby the environmental data of the environment 220 surrounding the motor vehicle 210 are obtained. Thereafter, based on the collected environmental data, the free parking space 230 may be determined, for example, by performing image classification, object detection, semantic segmentation, and the like on the environmental data. By means of the camera, a reliable acquisition of the free parking space 230, in particular of the transverse parking space, in the forward direction of travel of the motor vehicle can thus be achieved, taking into account the relatively large effective sensing range of the camera. Thus, the method 100 according to the present disclosure can reliably park the motor vehicle 210 into the parking space 230 in a forward parking manner, and has advantages of high parking efficiency, high parking success rate, and the like.

Furthermore, those skilled in the art will also appreciate that other forms of sensor modules, such as next generation ultrasonic sensors, having significantly increased effective sensing ranges capable of reliably covering a parking space 230, particularly a lateral parking space, may be used in addition to the front view camera 250 and/or the look-around camera 260 in the method 100 according to the present disclosure to effectively cover the parking space 230.

In this case, after the acquisition of the environmental data in step S110, an empty parking space 230 in front of the motor vehicle 210 is also determined in step S120 using the environmental data. Fig. 4 shows a flow chart of a more detailed embodiment of determining an empty parking space 230 in front of the motor vehicle 210 in a method according to the present disclosure.

As shown in fig. 4, in the method 100 according to the present disclosure, step S120 may include: in sub-step S121, marker information about the markers 280 on the ground is determined from the ambient image data; and/or in sub-step S122, object information about an object 270 located in the vicinity of said motor vehicle 210 is determined from said ambient image data.

Furthermore, in the method 100 according to the present disclosure, step S120 may further include: in a substep S123, a parking space 230 in front of the motor vehicle 210 is determined on the basis of the determined marking information and/or the object information.

Furthermore, in accordance with more detailed embodiments of the method 100 of the present disclosure, in the method 100 of the present disclosure, the marking information may be space line information, wherein a parking space located in front of the motor vehicle is determined according to a space line recognition algorithm.

Thus, in the method 100 according to the present disclosure, the parking spot in which the motor vehicle 210 is desired to be parked may be determined by means of the marking information on the ground on which the motor vehicle 210 is located. In the actual parking scenario, for example, in which a parking space is defined by a space line, the processor running the parking assistance system according to the method 100 of the present disclosure can, for example, carry out an image analysis of the environmental image data acquired by means of the forward-looking camera and/or the looking-around camera by means of a space line recognition algorithm, recognize a marking 280 present in the environmental image, i.e. for example, a space line, determine marking information in the environmental image about the marking 280 on the ground, and thus determine the parking space 230 located in front of the motor vehicle 210. Thus, the parking space in which the motor vehicle is expected to be parked can be determined by the mark information such as the space line. Furthermore, the collected environmental data, in particular the environmental image data, can be analyzed by means of an image classification algorithm, an object detection algorithm, a semantic segmentation algorithm, etc., so that marking information about the marking 280 on the ground, for example a parking space line, in the environmental image can be determined.

In addition, there are cases where there is a lack of marking information on the ground. In order to be able to implement the method according to the present disclosure also in this case, in the method 100 according to the present disclosure, an object 270 in the vicinity of the motor vehicle 210 may also be detected. For example, if a plurality of objects 270 are detected by means of the front camera 250 and/or the rear camera 260 of the motor vehicle 210 and if a distance between two objects 270 is sufficient to accommodate the motor vehicle 210, it is likewise possible to determine if a free parking space 230 is present and accordingly a parking space 230 into which the motor vehicle is desired to be parked. Thus, the method 100 according to the present disclosure may enable a reliable search or determination of a parking space 230 in which a motor vehicle is desired to be parked in different parking situations.

After the parking space is determined in step S120, a forward parking mode, which is expected to be executed by the motor vehicle 210 and which enables efficient parking of the motor vehicle 210, is also determined in step S130 based on the determined parking space 230. That is, in the method according to the present disclosure, different suitable forward parking modes may also be determined to accomplish parking. For this purpose, for example, a distance of the motor vehicle 210 from the parking space 230, whether there is another vehicle occupation in the direction of extension of the parking space 230 (in particular in a direction parallel to the direction of travel of the motor vehicle), etc. can be taken into account to determine a suitable forward parking pattern.

Thus, in accordance with a more detailed embodiment of the method 100 of the present disclosure, in the method 100 of the present disclosure, determining a forward parking pattern based on the distance of the motor vehicle 210 from the parking space 230 and based on the determined occupancy information in the direction of extension 290 of the parking space 230 is also included. Therefore, flexible selection of the forward parking mode can be realized, and the rapidness of parking and the success rate of parking are further improved.

In particular, fig. 5 to 7 exemplarily show schematic views of different forward parking modes.

As shown in fig. 5, in accordance with a more detailed embodiment of the method 100 of the present disclosure, the method 100 further includes determining a first forward parking mode, where the first forward parking mode includes the motor vehicle 210 being directly forward parked into the determined parking space 230, if the distance d of the motor vehicle 100 from the parking space 230 is greater than a distance threshold. As shown in fig. 5, a distance d between a front section of motor vehicle 210 and a center point of a parking space can be defined as a distance of motor vehicle 100 from parking space 230. It is also conceivable that the distance between the other section of the motor vehicle 210 and any position in the parking space can be defined as the distance of the motor vehicle 100 from the parking space 230.

Thus, as shown in fig. 5, in the case where the distance d is sufficiently large, by performing the right turn first and then the left turn, the motor vehicle 210 can be parked directly forward into the determined parking space 230 without having to be parked in an poured manner, which has advantages of high parking efficiency, high parking success rate, and the like, as described above.

As shown in fig. 6, according to a more detailed embodiment of the method 100 of the present disclosure, the method 100 further includes determining a second forward parking mode in the event that the distance d of the motor vehicle 100 from the parking space 230 is less than a distance threshold and there is no occupancy in the direction of extension 290 of the parking space 230, wherein the second forward parking mode includes: the motor vehicle 210 is parked forward into the determined parking space 230, the motor vehicle 210 continues to travel until the motor vehicle 210 is oriented parallel to the extension direction 290 of the parking space 230, and the motor vehicle 210 is tilted straight into the parking space 230.

Thus, as shown in fig. 6, when the distance d is small, that is, the motor vehicle 210 collects the free parking space 230 later and the next space of the parking space 230 is unoccupied, the motor vehicle 210 can also realize the "early" occupation of the parking space 230 by first parking the motor vehicle 210 forward into the determined parking space 230 and continuing to travel into the unoccupied next space in the extending direction 290 to adjust the direction and then pouring back into the parking space 230, thereby effectively preventing the following vehicle from driving into the parking space 230 in advance or following the motor vehicle 210, and having the advantages of high parking efficiency, high parking success rate, and the like.

As shown in fig. 7, according to a more detailed embodiment of the method 100 of the present disclosure, the method 100 further includes determining a third forward parking mode in the event that the distance d of the motor vehicle 100 from the parking space 230 is less than a distance threshold and there is occupancy in the direction of extension 290 of the parking space 230, wherein the third forward parking mode includes: the motor vehicle 210 is parked forward into the determined parking space 230, the motor vehicle 210 is steered out of the parking space 230, and the motor vehicle 210 is steered into the parking space 230.

Thus, as shown in fig. 7, when the distance d is small, i.e., for example, the motor vehicle 210 collects an empty parking space 230 later and the next space of the parking space 230 is occupied, the motor vehicle 210 can also realize an "advanced" occupancy of the parking space 230 by first parking the motor vehicle 210 forward into the determined parking space 230 and then steering out of the parking space 230 and then steering back into the parking space 230, effectively preventing the following vehicle from being driven into the parking space 230 in advance or following the motor vehicle 210, and having advantages of high parking efficiency, high parking success rate, and the like.

In summary, in the method 100 according to the present disclosure, by specifically considering the distance d between the motor vehicle and the parking space and the occupancy information in the extending direction 290 of the parking space, different forward parking modes matched with the distance d and the occupancy information can be determined, so that forward parking can be more efficiently completed in a more flexible manner, and the advantages of high parking efficiency, high parking success rate and the like are provided.

Further, as shown in fig. 5-7, in accordance with a more detailed embodiment of the method 100 of the present disclosure, the method 100 further includes determining a path T of the motor vehicle 210 from a current location of the motor vehicle to a target location of the motor vehicle 210, wherein the target location is located in the parking spot 230, in accordance with the determined forward parking pattern.

In this case, the parking path T, which enables different forward parking modes, can be determined by means of an existing parking path planning algorithm, depending on the different forward parking modes determined. Thereafter, the parking assistance system may control the motor vehicle 210 to move according to the determined parking path T to park the motor vehicle 210 into the determined parking space 230 according to the determined parking pattern.

Further, as shown in fig. 5-7, in accordance with a more detailed embodiment of the method 100 of the present disclosure, in the method 100 of the present disclosure, the parking space 230 is a lateral parking space. As described above, with the forward looking camera 250 and/or the through looking camera 260, reliable coverage can be achieved even for lateral parking spaces requiring a larger sensing range (because of the length of the parking spaces required to be collected here) due to the larger effective sensing range of the cameras. Thus, the method 100 according to the present disclosure can realize "ahead" forward parking of the motor vehicle 210 into the lateral parking space in a forward parking manner, and has advantages of high parking efficiency, high parking success rate, and the like.

In summary, according to the method 100 of the present disclosure, the detection of the idle parking space 230 can be implemented in advance. And based on the detected free parking space 230, a forward parking pattern that matches the current driving conditions can be determined and the motor vehicle 210 is autonomously "advanced" forward into the parking space 230. In this case, on the one hand, the determination of the free space does not require the motor vehicle 210 to travel a long distance. On the other hand, "lead" occupancy of the parking space 230 can be achieved, effectively preventing a rear vehicle from driving into the parking space 230 in advance or following the motor vehicle 210. Therefore, the method disclosed by the invention has the advantages of high parking speed, high parking efficiency, high parking success rate and the like.

According to a second aspect of the present disclosure, there is provided a computer program product comprising instructions which, when said program is executed by a computer, cause the computer to carry out the above-described method of operating a park assist system for a motor vehicle according to the present disclosure. Thus, the computer program product according to the present disclosure has advantages corresponding to the method of operation of the park aid system for a motor vehicle according to the present disclosure, which is not described in detail herein for brevity.

According to a third aspect of the present disclosure, there is provided a computer-readable storage medium having stored thereon a computer program or instructions which, when executed by a processor, implement the steps of the method of operation of a park assist system for a motor vehicle according to the present disclosure to assist in parking a motor vehicle. Thus, the computer-readable storage medium according to the present disclosure has advantages corresponding to the method of operating the parking assistance system for a motor vehicle according to the present disclosure, and will not be described in detail herein for brevity.

According to a fourth aspect of the present disclosure, a park assist system 800 for a motor vehicle is provided. Fig. 8 shows a schematic diagram of a park assist system 800 according to the present disclosure. According to the present disclosure, the parking assistance system 800 includes: a processor 810; and a memory 820 storing a computer program or instructions that, when executed by the processor, implement the steps of a method of operating a park assist system for a motor vehicle according to the present disclosure to assist the motor vehicle in parking.

Here, those skilled in the art will appreciate that the processor 810 includes, but is not limited to, a FPGA, DSP, ARM single-chip microcomputer, a CPU, and the like. Furthermore, those skilled in the art will also appreciate that, to perform the various steps of the method of operating a park assist system for a motor vehicle according to the present disclosure, the park assist system 800 for a motor vehicle may be configured to include more or fewer or remaining modules. Furthermore, those skilled in the art will also appreciate that memory 820 may include possible forms of RAM, ROM, or a combination thereof. Thus, the park assist system 800 according to the present disclosure has advantages corresponding to the method 100 of operating a park assist system for a motor vehicle according to the present disclosure, which will not be described in detail herein for brevity.

According to a fifth aspect of the present disclosure, a park assist system 900 for a motor vehicle is provided. Fig. 9 shows a schematic diagram of a park assist system 900 according to the present disclosure. According to the present disclosure, the parking assistance system 900 includes: an environment acquisition unit 910, the environment acquisition unit 910 being configured for acquiring environment data indicative of an environment surrounding the motor vehicle 210; a parking space determination unit 920, the parking space determination unit 920 being configured to determine an empty parking space 230 located in front of the motor vehicle 210 based on the environmental data; a parking pattern determination unit 930, the parking pattern determination unit 930 being configured to determine a forward parking pattern based on the determined free parking space 230; and a control unit 940, the control unit 940 being configured to autonomously forward park the motor vehicle 210 into the determined parking space 230 according to the determined forward parking pattern. Thus, the parking assistance system 900 according to the present disclosure has advantages corresponding to the method 100 of operating a parking assistance system for a motor vehicle according to the present disclosure, which will not be described in detail herein for brevity.

According to a sixth aspect of the present disclosure, a motor vehicle 210 is provided. Fig. 10 shows a schematic diagram of a motor vehicle 210 according to the present disclosure. According to the present disclosure, the motor vehicle 210 includes the above-described park assist system 800, 900 for a motor vehicle according to the present disclosure.

Furthermore, those skilled in the art will also appreciate that, to perform the various steps of the method 100 of operating a park assist system for a motor vehicle according to the present disclosure, the motor vehicle 210 according to the present disclosure may also be configured to include more or less or the remaining modules/components required for implementing the various steps, such as a forward-looking camera 250 and/or a look-around camera 260, a next-generation ultrasonic sensor, etc., whose effective sensing range is capable of effectively covering a park, particularly a lateral, parking space.

Thus, the motor vehicle 210 according to the present disclosure has advantages corresponding to the parking assistance system 800, 900 according to the present disclosure and to the method 100 of operating the parking assistance system for a motor vehicle according to the present disclosure, which are not described in detail herein for brevity.

The exemplary embodiments according to the present disclosure described in detail above are illustrative only and are not limiting. Those skilled in the art will understand that various modifications and combinations may be made to these embodiments or their features without departing from the principles and spirit of the disclosure, and such modifications and combinations should fall within the scope of the disclosure.

Claims

1. A method of operating a park assist system for a motor vehicle, comprising:

collecting environmental data indicative of an environment surrounding the motor vehicle;

determining an empty parking space in front of the motor vehicle based on the environmental data;

determining a forward parking mode based on the determined parking space; and

the motor vehicle is autonomously forward-parked into the determined parking space in accordance with the determined forward-parking mode.

2. The method of claim 1, wherein,

the environment data comprises environment image data indicative of an environment surrounding the motor vehicle, wherein the environment image data is acquired by means of a front-view camera and/or a pan-around camera of the motor vehicle.

3. The method of claim 2, wherein,

determining the parking space comprises: determining marking information about a marking on the ground based on the environmental image data; and/or

Object information about objects located in the vicinity of the motor vehicle is determined from the environmental image data.

4. The method of claim 3, wherein,

determining the parking space further includes: and determining a parking space in front of the motor vehicle according to the determined marking information and/or the determined object information.

5. The method of claim 4, wherein,

the marking information is parking space line information, wherein a parking space in front of the motor vehicle is determined according to a parking space line identification algorithm.

6. The method of claim 1, further comprising:

a forward parking pattern is determined based on a distance of the motor vehicle from the parking space and based on the determined occupancy information in the extending direction of the parking space.

7. The method of any one of claims 1 to 5, further comprising:

in the event that the distance of the motor vehicle from the parking space is greater than a distance threshold, a first forward parking mode is determined,

wherein the first forward parking mode includes the motor vehicle being parked directly forward into the determined parking space.

8. The method of any one of claims 1 to 5, further comprising:

determining a second forward parking mode in the event that the distance of the motor vehicle from the parking space is less than a distance threshold and there is no occupancy in the direction of extension of the parking space,

wherein the second forward parking mode includes: the motor vehicle is parked forward into the determined parking space, the motor vehicle continues to travel until the motor vehicle direction is adjusted to be parallel to the extension direction of the parking space, and the motor vehicle is directly poured into the parking space.

9. The method of any one of claims 1 to 5, further comprising:

determining a third forward parking mode in the event that the distance of the motor vehicle from the parking space is less than a distance threshold and there is an occupancy in the direction of extension of the parking space,

wherein the third forward parking mode includes: the motor vehicle is parked forward into the determined parking space, the motor vehicle is steered out of the parking space, and the motor vehicle is steered into the parking space.

10. The method of any one of claims 1 to 5, further comprising:

a path of the motor vehicle from a current position of the motor vehicle to a target position of the motor vehicle is determined in accordance with the determined forward parking pattern, wherein the target position is located in the parking space.

11. The method according to any one of claims 1 to 5, wherein,

the parking space is a transverse parking space.

12. A computer program product comprising instructions which, when the program is executed by a computer, cause the computer to carry out the method of operating a park aid system for a motor vehicle according to any one of claims 1 to 10.

13. A computer-readable storage medium, having stored thereon a computer program or instructions, which when executed by a processor, implement the steps of the method according to any of claims 1 to 10 for parking assistance of a motor vehicle.

14. A park assist system for a motor vehicle, comprising:

the processor may be configured to perform the steps of,

memory storing a computer program or instructions which, when executed by a processor, implement the steps of the method according to any one of claims 1 to 10 for parking assistance of a motor vehicle.

15. A park assist system for a motor vehicle, comprising:

an environment acquisition unit configured to acquire environment data indicative of an environment surrounding the motor vehicle;

a parking space determination unit configured to determine an empty parking space located in front of the motor vehicle based on the environmental data;

a parking pattern determining unit configured to determine a forward parking pattern based on the determined free parking space; and

A control unit configured to autonomously forward park the motor vehicle into the determined parking space in accordance with the determined forward parking mode.

16. A motor vehicle comprising a park assist system for a motor vehicle according to claim 13 or 14.