EP2608185A1 - Procédé et dispositif de préparation dýune aide au stationnement dans un véhicule - Google Patents

Procédé et dispositif de préparation dýune aide au stationnement dans un véhicule Download PDF

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Publication number
EP2608185A1
EP2608185A1 EP12008441.3A EP12008441A EP2608185A1 EP 2608185 A1 EP2608185 A1 EP 2608185A1 EP 12008441 A EP12008441 A EP 12008441A EP 2608185 A1 EP2608185 A1 EP 2608185A1
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EP
European Patent Office
Prior art keywords
parking
vehicle
mode
displayed
sub
Prior art date
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Granted
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EP12008441.3A
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German (de)
English (en)
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EP2608185B1 (fr
Inventor
Kathrin Greifendorf
Mehmet Terkes
Torsten Wendler
Ulrich Wuttke
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Volkswagen AG
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Volkswagen AG
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Publication of EP2608185A1 publication Critical patent/EP2608185A1/fr
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    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/168—Driving aids for parking, e.g. acoustic or visual feedback on parking space

Definitions

  • the present invention relates to a method and apparatus for providing a parking aid in a vehicle.
  • a method and apparatus for providing a parking aid in a vehicle In the method according to the invention, at least one parking space in the surroundings of the vehicle is detected and the surroundings of the vehicle with the at least one parking space are displayed by means of a graphical representation.
  • Parking assist devices are known in the art and typically include suitable sensors to detect the environment of the vehicle. In particular, the distances from the own vehicle to obstacles located in the vicinity of the vehicle are detected, e.g. parked vehicles, trees, walls or pillars.
  • Such Einpark Anlagenvorraumen further include known to display and control concepts to visualize the driver of the vehicle on the one hand, the parking situation, on the other hand, but also to enable a situation-appropriate interaction with the vehicle.
  • specific parking suggestions can be made on the system side and / or system-side driving supports can be offered, which at least partially reduce the driver's driving task during the parking process.
  • the parking time can be reduced, which benefits the occupants of the vehicle to be parked and likewise the road users in the vicinity of the vehicle to be parked. Furthermore, the risk of typical shunting damage, such as Collisions with objects in the blind spot can be reduced.
  • the DE 102 57 722 A1 describes a parking aid for a vehicle for detecting parking spaces that are sensed during the passage of the vehicle.
  • Information about the parking spaces, such as the distance to the vehicle and the length and width of the parking space can be displayed via an output unit.
  • the DE 10 2010 010 652 A1 describes a method and apparatus for parking assistance of a vehicle based on the sensory detection of the environmental conditions of the vehicle. Both a Vorholicrteinparken and a Ruganteinparken is supported for a transverse gap and the driver if necessary, a suggestion and a suitable Einparkbahn displayed.
  • the WO 20091118098 A1 describes a method for selecting a parking space in which a complex parking situation is detected by a camera-based method and each possible parking space is evaluated by means of specific selection criteria.
  • the complex parking situation includes in particular longitudinal gaps, cross gaps, parking markings and / or parked vehicles.
  • the DE 10 2009 046 726 A1 relates to a method for detecting parking spaces and selecting a parking space.
  • the possible parking areas are shown for further selection on a preferably touch-sensitive screen and can be selected by tapping.
  • a parking trajectory can be displayed and / or a fully or semi-automatic parking can be triggered.
  • a method and a device for parking assistance is described in which a plurality of parking spaces are sensed and displayed on a display unit. It can be distinguished between longitudinal gaps, cross gaps and oblique parking spaces. For a parking space selected via a rotary press or a touch or proximity-sensitive surface of the display unit, parking assistance is provided to the driver.
  • the inventive method is characterized in that at least two parking modes are defined, which differ by the Einparkart in the parking spaces and / or the gap type of parking spaces, one of the parking modes is selected and the nature of the graphical representation of the environment with the at least one parking space in Dependent on the selected parking mode, the provision of two or more parking modes, which differ by the Einparkart and / or the gap type, improves the ability to display the parking situation situation. Depending on the parking situation, this can contribute to a better overview for the driver.
  • a type of gap is understood in particular to mean the location and orientation of a parking space in a parking situation.
  • longitudinal gaps which are aligned parallel to the vehicle or the road and are defined for the parking operation by front and rear boundaries
  • transverse gaps which are aligned perpendicular to the vehicle or the roadway and are defined by lateral boundaries.
  • a gap that is not substantially parallel or perpendicular to the vehicle or the roadway is classified, in particular, as a slant gap.
  • Criteria for the Einparkart include in particular the possibility or the requirement that can be parked forwards or backwards or should.
  • an oblique or mallmaschinertiges parking can be defined.
  • a matching parking space need not necessarily have been identified. But if at least one parking space was found, it is possible to switch to the corresponding parking mode.
  • this parking space is then highlighted relative to the parking spaces that do not belong to the selected parking mode. In particular, all parking spaces associated with the selected parking mode are highlighted. In this way, a selective search for a specific type of gap can be simplified and a contribution to speedy parking can be made.
  • a highlighted representation is made, for example, in a manner known per se. All parking spaces are displayed and the parking spaces associated with the selected parking mode are highlighted by a differentiation of the display color, the display pattern and / or the degree of transparency. The parking spaces that do not belong to the selected parking mode are displayed or hidden in a variant.
  • the gap proportions do not have to be to scale and the environment of the vehicle does not reflect the actual objects that make up the boundaries of the parking spaces.
  • an approximately proportionate representation of at least the parking spaces and the distances between the vehicle and a parking space is advantageous.
  • the surroundings of the vehicle include parking spaces bounding objects and possibly other objects and that the objects delimiting the parking spaces and possibly the other objects are displayed as a function of the selected parking mode. They are displayed differently in particular for each parking mode.
  • the environment is displayed in a different way.
  • Such a representation has no claim and no purpose to correspond to reality.
  • the objects bounding the parking spaces, e.g. parked vehicles in this case only shown as this corresponds to the selected parking mode.
  • the environment of a parking space in parking mode for transverse parking is then e.g. visualized as a cross-parked vehicle, the environment of a parking space in parking mode for longitudinal parking accordingly as langsparkendes vehicle.
  • the activation of the parking aid can be done in a known per se. It takes place e.g. automatically when the vehicle has fallen below a certain speed limit and / or when a distance image of the environment is detected, with which a typical parking situation is associated. Alternatively or additionally, a manual activation by a user input is possible. After activating the parking aid then, for example, a neutral search image is displayed first.
  • the assignment of the detected parking spaces to the defined parking modes is evaluated by means of an evaluation algorithm and the selection of the parking mode is carried out automatically as a function of the result of this evaluation. It can therefore be assessed how useful the automatic allocation of the parking spaces to the individual parking modes in the given situation.
  • the graphic representation of the parking mode can now be displayed immediately, which is considered to be most likely on the system side. At the beginning of the parking task, the driver does not have to worry about the actual selection of the parking mode. This is particularly time-saving.
  • the evaluation is carried out in a manner known per se, for example via a penalty system or bonus point system, in which for each detected parking space it is quantified to what extent it is suitable as a type of gap of the respective parking modes. Quantification allows the selection to be made on a traceable basis.
  • the criteria can be particularly configurable Eg by driver-specific a particular parking mode is upgraded via bonus points and thus more likely automatically comes to choose from.
  • the driver can still set the desired parking mode manually. If, in a complex parking situation, it turns out to be difficult for the system to find the suitable parking mode, the driver can, according to a variant, predefine the parking mode by a user input, whereby an automatic selection of the parking mode is suppressed. This is e.g. helpful in situations in which the driver prefers a certain Einparkart, but the system is not recognizable. For example, the driver wants to park forward because of a cargo to be unloaded or because of his preferences, but on the system side, better chances of parking rear-end parallel parking are found.
  • User inputs may be made by various modalities, e.g. via a voice interface or via manually operated controls. If the graphical representation is provided on a display surface with an approximate or touch-sensitive surface, a so-called touchscreen, user inputs can also be made by manual interaction with the display objects of the graphical representation itself. Alternatively, an approach or touch-sensitive surface can be provided for the operation, which is arranged spatially separated from the display surface (so-called touchpad).
  • the activation and / or the selection of the parking mode takes place by means of a gesture which is executed on or in front of the approach or touch-sensitive surface.
  • This can be advantageously used for multifunction displays when the display area is used for other image outputs before parking.
  • the activation and / or selection of the parking mode can then be carried out quickly and intuitively.
  • graphics data for a graphic representation of the environment are respectively calculated for the at least two parking modes.
  • the calculated graphic data is displayed as a change image depending on the selected parking mode, the graphic representation for the selected parking mode being displayed as the main picture and the graphic representation for the non-selected parking modes as a sub picture.
  • the main image is a graphic representation that is the fastest and most noticeable upon a cursory inspection of the overall graphical representation of the parking aid.
  • the main image is displayed in particular in the foreground and / or centrally. For example, it partially obscures the subimages in the background and / or displays them larger than the subimages.
  • the graphics data for the subimages must be calculated in a partial concealment of the sub-images only to the extent that they are actually graphically represent at the time. However, it is also possible to calculate in advance for each of the individual parking modes, the graphics data for a main image and possibly to generate graphics data for a sub picture. When changing the parking mode so possibly the image structure of the newly displayed graph can be done faster.
  • the change picture comprises a ticket-like representation with the main picture as overhead file card.
  • the sub-images are associated with the underlying index cards and these can be selected via prominent tabs tab, whereby the parking mode is changed accordingly.
  • An index card display has the advantage that the available display area can be used almost completely for the main picture and the content of the main picture is detected quickly.
  • the subimages are completely or partially obscured, in particular with the exception of the tabs of the main picture.
  • the change picture comprises a ring shown in perspective, whose main picture is displayed at a position which lies in the perspective foreground.
  • the secondary images are distributed cyclically on the perspective ring.
  • an operating action of the ring shown in perspective is controllable such that a carousel-like rotation of a sub-picture can be brought into the perspective foreground, whereby the parking mode is changed accordingly.
  • Such a representation can be operated intuitively.
  • a displayed sub-picture of a parking mode corresponds to a miniaturization of that graphic that would be displayed as a main picture if the corresponding parking mode had been selected.
  • the sub picture is partially obscured in a carousel representation, for example.
  • the change picture comprises a planar arrangement of the main picture and at least one sub-picture, wherein the sub-pictures are each displayed smaller than the main picture and the parking mode is changed by selecting the corresponding sub-picture.
  • a planar arrangement can not be displayed overlapping or partially overlapping.
  • Such a representation is simple and graphically easy to implement. It is particularly advantageous if the parking mode to be selected can not be clearly determined, so that a visual compromise is achieved between a clear selection of a main image and several equivalent images.
  • the driver When using change pictures, the driver is advantageously signaled meaningful alternatives to the selected parking mode. In doing so, e.g. allocates a parking space to a gap type that does not belong to the selected parking mode.
  • the sub-picture belonging to the parking mode to which the gap type is assigned is visually differentiated from the other sub-pictures. In the case of the index card display, e.g. the tab in question is highlighted in green. Similarly, the sub-pictures of the other change-picture representations can be visually highlighted. As a result, the driver can quickly locate those who found usable parking spaces, especially among several non-selected parking modes.
  • a subarea of the graphical representation of the surroundings pertaining to a parking mode is masked as a function of the gear selection and / or the position of the turn signal. As a result, the required display area for the graphical representation can be reduced.
  • a park information in particular a graphic representation of a road sign valid for the respective parking spaces, can then be displayed at the position of the hidden subarea.
  • the graphical representation is restricted situation-specific and the thus obtained disused area on the display area is used for the representation of situation-specific information.
  • the parking or holding conditions for the respective parking spaces are displayed to the driver, e.g. whether a hold is only permitted for entry or exit or loading or unloading or if the side strips are to be used during parking.
  • a parking instruction can also be displayed independently of whether a partial area of the graphical representation has previously been hidden.
  • Such an indication is e.g. displayed in a free corner of the graphical representation, for example obliquely below a sub-picture in a perspective ring representation.
  • the inventive device for providing a parking aid in a vehicle comprises means for detecting parking spaces in the vicinity of the vehicle and a Display area for displaying the surroundings of the vehicle with at least one parking space by means of a graphical representation. It further comprises a control unit, which is connected to the means for detecting parking spaces and the display surface, for controlling the display area in dependence on the detected parking spaces.
  • the inventive device is characterized in that by means of the control unit at least two parking modes are definable, which differ by the Einparkart in the parking spaces and / or the gap type of parking spaces and that the selection of one of the parking modes can be detected.
  • the displayed on the display surface type of graphical representation of the environment with the at least one parking space is then displayed in dependence on the selected parking mode.
  • the device according to the invention is particularly suitable for carrying out the method according to the invention. It therefore also has the advantages of the method according to the invention.
  • a vehicle is equipped with such a device for providing a parking aid.
  • FIG. 1 the view of the cockpit of a vehicle 1 is shown, which is provided with a device 2 for providing a parking aid according to the FIG. 2 equipped according to an embodiment of the invention.
  • the device 2 comprises a display 3, which is arranged in the upper region of the center console, so that it can be well viewed by the driver and front passenger and possibly operated.
  • the display 3 can also be arranged elsewhere in the vehicle 1, z. B. in the so-called instrument cluster or in a head-up display.
  • the graphical representations of the various parking modes can be displayed on the display 3.
  • the display 3 comprises an approximation or touch-sensitive surface, so that the display contents can be directly manipulated via input gestures.
  • User inputs can also be entered via a manual control element 5, which is designed, for example, as a rotary pushbutton, joystick or as a touchpad, or via a voice interface (not shown).
  • a parking mode can be selected via the user inputs.
  • the device 2 for providing a parking aid further comprises a control unit 4, which is connected to the display 3 and controls the graphical representations on the display 3 in response to detected parking spaces.
  • a control unit 4 which is connected to the display 3 and controls the graphical representations on the display 3 in response to detected parking spaces.
  • criteria regarding the parking spaces are defined for different parking modes, as will be described in more detail below in connection with the method according to the invention.
  • a rating unit 6 is integrated, by means of which the parking situation can be evaluated in dependence on the detected parking spaces.
  • an evaluation algorithm is stored for this purpose, by means of which the assignment of the detected parking spaces to the defined parking modes can be evaluated and an automatic selection of the parking mode can be made depending on the result of this evaluation. It can therefore be assessed how useful the automatic allocation of the parking spaces to the individual parking modes in the given situation.
  • the control unit 4 is connected via the data bus 7 in the vehicle with a plurality of parking sensors 8.
  • the parking sensors 8 acquire data of the surroundings of the vehicle 1 when a maneuvering or parking situation has been detected by the system or entered by the driver.
  • the parking sensors 8 are advantageously arranged in the front and rear bumpers of the vehicle 1 and are e.g. automatically activated when the speed drops below a minimum speed or when a low gear or reverse gear is engaged.
  • the data of the surroundings of the vehicle 1 are transmitted to the control unit 4 in a manner known per se and evaluated there. In particular, information about parking spaces is then extracted from them, and the corresponding graphics data are generated for the parking modes.
  • GPS Global Positioning System
  • a parking situation was detected for the vehicle 1.
  • the parking situation has been automatically recognized, because via the navigation device 10, the approach to the navigation target and a decrease in the travel speed of the vehicle 1 below a set threshold, e.g. 30 km / h, was detected.
  • the driver has called the parking aid via a user input. For this he has e.g. made a selection on the control element 5 or by means of a write gesture, the letter "P" on the touch-sensitive surface of the display 3 entered.
  • the previous display content of e.g. was generated by an infotainment, is then interrupted and provided an initial image for the parking aid.
  • the parking sensors are activated 8, so that first data to the surroundings of the vehicle 1 can be detected already in passing on the detection of a parking situation. Of Further, 9 additional data are supplied to the environment in support of the camera system. The acquired data are collected in the control unit 4 and form the basis for the detection of the parking spaces and possibly relevant parking instructions for the further procedure.
  • a first parking mode concerns longitudinal parking, i. that the parking space is aligned substantially parallel to the direction of travel and is defined by the front and rear boundary.
  • a second parking mode is transverse parking, i. that the parking space is oriented substantially perpendicular to the direction of travel and is defined by the lateral boundaries.
  • a third parking mode concerns oblique parking in which the parking space is inclined at an angle, e.g. is aligned between 20 ° and 70 ° to the direction of travel. For each parking mode, a restriction to the respective lane side can be made so that only parking spaces are displayed on the right half. Further parking modes, if implemented, then take into account further parking spaces and / or a differentiation as to whether forward or reverse parking is possible, reasonable or even prescribed.
  • parking spaces are identified on the basis of the acquired data.
  • a parking space identified in this way is allocated to a parking mode or several parking modes according to the defined criteria. For example, a relatively large parking space can meet the criteria of several parking modes. It can be there for example be parked longitudinally or transversely.
  • graphic data for a graphical representation can then be generated, by means of which the surroundings of the vehicle 1 with the identified parking spaces can be displayed.
  • a parking mode is selected automatically either by the system or by a user input.
  • the selection of the parking mode by the driver takes place.
  • the driver can either cyclically change the defined parking modes by means of the control element, so that the graphic representations of the respective parking modes are displayed one after the other.
  • the selection of the parking mode is initially automatic.
  • the assignment of the detected parking spaces to the defined parking modes becomes evaluated by means of an evaluation algorithm in the evaluation unit 6 in terms of how advantageous the respective parking mode is in the specific situation.
  • For each parking mode bonus points for each found parking space are distributed, which is assigned to this parking mode. Further bonus points or penalty points (negative bonus points) can be awarded for other criteria, for example, that transverse parking compared to longitudinal parking is assessed as disadvantageous and charged with penalty points.
  • the selection of the parking mode then takes place automatically depending on the result of this evaluation, ie that the parking mode with the most bonus points is selected.
  • the automatic selection of the parking mode can still be suppressed on the driver side.
  • the system-side suggestion of the parking mode may be objectively advantageous in certain situations, it may appear to be subjective and situation-related but inappropriate.
  • the driver recognizes that the traffic flow and / or objects to be unloaded in his vehicle transverse parking is unfavorable and he looks best for a longer parking space gap. In this case, the driver can set the parking mode firmly, thus temporarily switching off the automatic selection.
  • FIG. 3 2 a graphical representation 20 of the surroundings of the vehicle 1 is shown with parking spaces 30A, 30B, 30C of various types of gaps.
  • the own vehicle 1 is symbolized as a graphic object 40 and the surroundings by longitudinally-spaced vehicles 41.
  • the received data was evaluated and possible longitudinal gaps 30A, transverse parking spaces 30B and oblique parking spaces 30C were identified.
  • Graphs 20A-20C are cyclically interchangeable by user input.
  • a graph 20A is displayed in which the transverse parking space 30A is visually highlighted.
  • the parking space is displayed in a bright or green light so that it quickly catches the eye of the driver, even at a glance at the display 3.
  • the other parking spaces 30B, 30C are preferably displayed semi-transparently or not at all to direct the full attention of the driver to the parking spaces associated with the particular selected parking mode.
  • the graph 20B in which the parking space 30B is visually highlighted is displayed, and when selecting an oblique parking mode, the graph 20C in which the parking space 30C is visually highlighted is displayed. If no suitable parking space was found for one of the parking modes, the corresponding graphic is displayed during cyclic switching Skipped presentation and immediately selected the next parking mode for which a parking space was found.
  • FIG. 16 is a graph 20D for a parking mode for longitudinal parking based on the graph 20 of FIG. 3 shown.
  • the associated parking spaces 30A, 30B or 30C are visually highlighted, as described with reference to FIG FIG. 4 has been described.
  • the turn signal has been set to the right, whereupon the left half of the graphical representation 20 is hidden.
  • the vacated area is now used for the presentation of park information sign 50.
  • the driver is advised in this case that he is in a no-parking zone, so the vehicle is not allowed to leave and leave.
  • a corresponding traffic sign for the parking prohibition zone was detected by the camera system 9.
  • the graphic representation according to further embodiments of the invention takes place as alternating pictures.
  • the calculated graphics data are displayed in dependence on the selected parking mode such that the graphical representation for the selected parking mode as the main picture and the graphic representation for the non-selected parking modes as a sub picture are displayed.
  • the sub-images are optionally sorted according to the bonus points obtained during the automatic evaluation, so that they are first displayed in this order during the cyclic switching.
  • a map - like representation 21 A - 21 D is shown, which consists of a main image 21 A as an overhead index card and a plurality of subsidiary images 21 B - 21 D as underlying index cards.
  • the sub-picture 21 B - 21 D can be selected via tab shown tabs.
  • the overhead tab 21A shows a parked longitudinal mode as previously described. For example, a suitable longitudinal parking space 31 was found, and then the parked mode was automatically selected. By selecting another tab 21B - 21D, the parking mode can now be changed. For example, if a parking space is found that belongs to the parking mode with the representation 21 C, the index card tab of the sub-picture 21C is visually of the tabs of the other sub-images 21 B and 21 D differentiated, eg highlighted in green. In this way, the driver recognizes even with a glance at the display 3 that other suitable parking options are available to him. If appropriate, he can select the sub-picture 21C, so that this is now displayed as the main picture and is changed accordingly in the associated parking mode.
  • FIG. 7 is an alternative to that in the FIG. 6 2, the change picture from a planar arrangement with the main picture 22A and the sub-pictures 22B, 22C.
  • a suitable Querparkparklücke 32 was found and then automatically selected the Querparkmodus.
  • the sub-images 22B, 22C are each displayed smaller than the main image 22A.
  • the selection of the parking mode can be changed.
  • the sub-picture 22B is a suitable longitudinal parking space 31 and in the sub-picture 22C a suitable oblique parking space 33 is shown.
  • FIG. 8 is an alternative to those in the FIGS. 6 and 7 Representations shown, the alternating image from a perspective ring shown, the main image 23 A is displayed at a position that is in the front perspective and the side images 23 B, 23 C are cyclically distributed on the perspective ring. It was again, as already related to the FIG. 6 was executed, found a suitable transverse parking space 32 and selected the transverse park mode.
  • a suitable transverse parking space 32 In the sub-picture 23B is a suitable longitudinal parking space 31 and in the sub-picture 23C a suitable oblique parking space 33 is shown.
  • the parking spaces 31 - 33 limiting obstacles as parked vehicles 41 - 43 are displayed symbolized.
  • longitudinal parking mode longitudinally parked vehicles 41, vehicles parked transversely for the transverse parking mode 42 and vehicles parked obliquely for the oblique parking mode 43 are shown. This representation is very intuitive for the driver to grasp. It recognizes at a glance which type of parking or which type of gap it is.
  • the schematically illustrated environment does not usually correspond to the actual environmental situation. This has several advantages.
  • the driver can normally detect the general parking situation faster than would be possible via the parking sensors 8.
  • the driver recognizes, for example, that only longitudinal parking is possible on an arterial road.
  • the driver by his appearance, a system side wrong classified parking space or a parking space unsuitable for parking as such at all. It recognizes, for example, system-side errors in which smaller obstacles such as shut-off posts were not recognized, or whether the detected free space is a driveway in which it is not allowed to park.
  • the driver can now compare the parking situation shown graphically with the real picture seen by him and optionally select the desired parking mode.
  • the driver again has the option of selecting the individual parking modes by means of an operating action by means of cyclical alternation. This will be described below with reference to the FIGS. 9 and 10 on the basis of the perspective shown ring from the FIG. 8 explained.
  • the driver can control the ring such that a carousel-like rotation of one of the side images 23B, 23C in the perspective foreground can be brought, whereby the parking mode is changed accordingly.
  • a neutral display 24 is also provided, which can also be cyclically displayed as the main image for display.
  • the neutral display 24 includes, depending on the embodiment, no display contents or display contents for configuring the parking aid. Alternatively, for example, a moving image captured by the camera system 9 can also be displayed.
  • FIG. 9 is still visible from the sub pictures, which parking mode is thus displayed.
  • FIG. 10 are the side images reduced to a wing representation 25, so that only the perspective ring is indicated as such, but is no longer recognizable to which of the secondary images is. If a suitable parking space was found for a non-selected parking mode, the respective wing representation is again visually highlighted, eg marked green, so that the driver quickly recognizes possible parking alternatives.

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EP20120008441 2011-12-23 2012-12-19 Procédé et dispositif de préparation d'une aide au stationnement dans un véhicule Active EP2608185B1 (fr)

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DE102011122616A DE102011122616A1 (de) 2011-12-23 2011-12-23 Verfahren und Vorrichtung zum Bereitstellen einer Einparkhilfe in einem Fahrzeug

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JP2021000958A (ja) * 2019-06-24 2021-01-07 本田技研工業株式会社 駐車支援システム
US20210179087A1 (en) * 2019-12-13 2021-06-17 Honda Motor Co., Ltd. Parking assist device, parking assist method, and computer program product
CN113442910A (zh) * 2021-08-03 2021-09-28 阿波罗智能技术(北京)有限公司 用于辅助停车的方法、装置、设备和可读存储介质
CN114043982A (zh) * 2021-10-21 2022-02-15 奇瑞汽车股份有限公司 自主泊车人机交互界面控制方法及装置

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DE102013221201A1 (de) 2013-10-18 2015-05-07 Robert Bosch Gmbh Verfahren zum Unterstützen eines Fahrers beim Einparken
DE102015203619A1 (de) * 2015-02-28 2016-09-01 Bayerische Motoren Werke Aktiengesellschaft Parkassistenzsystem mit Erkennung einer Universalparklücke
KR102327345B1 (ko) * 2015-07-14 2021-11-17 주식회사 만도모빌리티솔루션즈 주차제어시스템 및 그 제어방법
DE102015010135B3 (de) 2015-08-01 2017-01-12 Audi Ag Verfahren zur Auswahl eines Auswertungsobjekts für eine Funktion in einem Kraftfahrzeug und Kraftfahrzeug
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CN112977425A (zh) * 2019-12-13 2021-06-18 本田技研工业株式会社 泊车辅助装置、泊车辅助方法和程序
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CN113442910B (zh) * 2021-08-03 2022-12-09 阿波罗智能技术(北京)有限公司 用于辅助停车的方法、装置、设备和可读存储介质
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