201116433 六、發明說明： 【發明所屬之技術領域】 本發明係有關一種輔助停車技術，尤其是指一種利用 格線來辅助停車之一種停車輔助方法與系統。 【先前技術】 停車為一般駕駛開車過程中無法避免且感到困難的一 項挑戰。在停車的過程中，駕駛者需要注意很多地方，例 如·駕駛者要注意空間上是否可以進行停車，以及在停車 的過程中，如何在不與鄰近之物體（如：車輛或者是樹木等） 碰撞的情況下，導引車輛進入停車空間。 而在習用技術之中’例如：美國公開號US2003/0009266 堤供一種停車輔助裝置，其係利用運算處理器根據偏擺率 (yaw rate)感測器所感測到的訊號，計算關於車輛的偏擺 角，進而得知車輛在停車過程中的位置，並藉由導引裝置 根據計异的位置提供駕駛者輔助資訊，使得駕駛者可以將 車停入至車位内。又如美國公開號2〇〇8/〇177443也揭露一 種停車輔助方法與系統，其係藉由$個感測器感測車輛的 行進特徵’然後計算正確的轉向輸人。根據計算所得的轉 向輸入修正駕駛者在操控時的轉向輸人，使得車輛可 利停入車位。 8 此外，日本專利特開2〇〇8〇8〇959也揭露一 影像感測車輛環境的影像，^ ^用夕浪 輔助線’以全週影像方法鈾” ；，'' 4出相關的 象方去執仃停車轨跡輔助，使得辅助駕 201116433 駛者將車輛停人車格内。又如日本_ 2G_732G也揭露 -種利用設置在車輛後方的感測n擷取周圍環境影像，再 利用魚眼影像補正法與鳥瞰方式輔助倒車停車。另外，如 W02008074458則教導一種利用貝茲曲線的方式來達到停車 執跡計算，完成平行停車的輔助。而w〇2〇〇7122864則利用 影像感測器、超音波雷達、轉角感測器所感測的訊號，近 訊號處理與運算，以輔助駕驶者停車。 【發明内容】 本發明提供一種停車輔助方法與系統，其係根據車輛 的特徵尺寸與行驶參數規劃虛擬的辅助線，使得駕駛 克服後視鏡或者是側視鏡的視角盲點，在平行停車戈者y 倒車停車的情況下，而能將車輛順利停入車格内，而疋 Ξί:::的車輛相碰撞，進而提高車輛以及車格周:: 本發明提供—種停車輔助方法與系統，其係建立 線叹置之基準’可以根據不同之車型，例如：小型車助 型客貨車、長型連結貨櫃車等大型運輸機具 、大 的辅助線組合，以提供駕駛者停車導引的輔助。、當 台 本發明提供一種停車輔助方法與系統，其係 影像擷取單元揭取車輛周圍影像，並在^至少 該車輛的周_境影像以及輔助線的影像，^二，示 以在停車時’ H㈣示影像㈣轉 者可 停車或者是平行停車的動作。 ㈣I成隹】車 201116433 括有提供一種停車輔助方法，其係包 f辅助線以及一組第三輔助線， 二輔助辅助線，其+該第一輔助線與最近的第 一特定距離’該組第三輔助線係與該第 部與相鄰吏得該輔助線之端 輔助線之間的距離係對應一車輛所::之距 數；佶兮筮—±=fc 1 Α ^ ^ 弟一特徵參 :::=:r 離之 停=: 係包元本::!供一種停車輔助系統，其 二：rr’其係具有-第-辅助線 第-輔助三輔助線’該組第二輔助線係平行於該 ' =;第一輔助線與最近的第二輔助線相距 特疋距硪，该紐第三輔助線係與該第一輔助 第 二輔助線正交使得該第一輔助線之端部與相鄰之該 第一輔助線相距一第-姓例· ΙΖΚ故 J.V.. 距離係對應一車輛所具有一輔助J之間的 單元，la里—土 特徵參數，—影像顯示 植，ς〜車輛内，該顯*單元顯示該輔助格線 徵位置相;;齊助格線紐之該第一輔助線係與該車輛之一特 201116433 【實施方式】 為使貴審查委員能對本發明之特徵、目的及 f進-步的認知與瞭解，下文特將本發明之I置的相 部結構以及設計的理念原由進行說明，以使得冑； 以了解本發明之特點，詳細說明陳述如下： 請參閱圖-所示，該圖係為本發明之停車輔 :不二圖關二車輔助方法包括有下列步驟，首先以步： 1 ϋ於—車輛之—輔助格線組。該車财以為小型 車、相型車、大型客貨車或者是貨振連 都具有複數個特徵參數。請參閲圖二Α所干 輛俯視以及輔助格線組示意圖。 至少具有三雜徵參數，第—特料例，該車輛1 第二特徵I數料9車減具^ 為車輛的寬度w’ 該車輛之最== 的長度Lw及第三特徵參數係為 而該輔助格線板係由一第一輔助線⑽、 二與102以及一組第三輔助線_104所= 100二:二辅助線101與102係平行於該第-輔助線 ，二中^第一輔助'線100與最近的第二輔助線101相距 雜孫^定距離^。該組第二輔助線間1G1與102的距 離係為〇ff4 ’其係等於一個車長L的距離。在圖二A的實201116433 VI. Description of the Invention: [Technical Field] The present invention relates to an auxiliary parking technology, and more particularly to a parking assistance method and system for assisting parking by using a grid line. [Prior Art] Parking is a challenge that cannot be avoided and is difficult during normal driving. In the process of parking, the driver needs to pay attention to many places, for example, the driver should pay attention to whether the space can be parked, and how to avoid collision with nearby objects (such as vehicles or trees) during the parking process. In the case of the vehicle, the vehicle is guided into the parking space. In the conventional technology, for example, US Publication No. US2003/0009266 provides a parking assist device that uses an arithmetic processor to calculate a deviation from a vehicle based on a signal sensed by a yaw rate sensor. The swing angle, in turn, knows the position of the vehicle during the parking process, and provides the driver assistance information according to the different position by the guiding device, so that the driver can park the vehicle into the parking space. A parking assist method and system is also disclosed in U.S. Patent Publication No. 2/8, 177, 443, which is based on the sensing of the vehicle's travel characteristics by a sensor and then calculates the correct steering input. The driver's steering input is corrected based on the calculated steering input, so that the vehicle can be parked into the parking space. 8 In addition, Japanese Patent Laid-Open No. 2〇〇8〇8〇959 also discloses an image sensing the environment of the vehicle environment, ^^Using the spur wave auxiliary line 'Using the whole-week imaging method uranium';, '' 4 related images The party went to the parking trajectory assistance, so that the driver of the assisted driving 201116433 will park the vehicle in the compartment. Another example is the Japanese _ 2G_732G, which also reveals the use of the sensory image set at the rear of the vehicle to capture the surrounding environment image, and then use the fish. The eye image correction method and the bird's eye view method assist the reverse parking. In addition, for example, W02008074458 teaches a method of using the Bezier curve to achieve the parking stop calculation and complete the parallel parking assistance, while the w〇2〇〇7122864 utilizes the image sensor. Ultrasonic radar, signal sensed by the corner sensor, near signal processing and operation to assist the driver to stop. [Invention] The present invention provides a parking assist method and system based on the characteristic size and driving parameters of the vehicle. Plan a virtual auxiliary line so that the driver can overcome the blind spot of the rear view mirror or the side view mirror, and in the case of parallel parking, the vehicle can be parked. Stopped in the compartment, and the vehicles of 疋Ξί::: collide, thereby improving the vehicle and the compartment of the vehicle:: The invention provides a parking assistance method and system, which is based on the basis of establishing a line sigh. Models, such as small-sized passenger-assisted vans, long-distance container trucks and other large-scale transport equipment, and large auxiliary line combinations to provide assistance for driver parking guidance. The present invention provides a parking assist method and system. The image capturing unit extracts the image of the surrounding area of the vehicle, and at least the image of the surrounding image of the vehicle and the image of the auxiliary line, ^2, which is shown as "H (four) display image when the parking is stopped (four) can be parked or parallel parking action (4) I Cheng Yu] car 201116433 includes providing a parking assist method, which is a package auxiliary line and a set of third auxiliary lines, two auxiliary auxiliary lines, which + the first auxiliary line and the nearest first specific distance ' The distance between the third auxiliary line system and the auxiliary line of the first part and the adjacent end of the auxiliary line corresponds to a vehicle:: the distance of the vehicle; 佶兮筮-±=fc 1 Α ^ ^ Characteristic parameter :::=:r From stop =: The package yuan::! For a parking assist system, the second: rr' has a - first - auxiliary line - auxiliary three auxiliary line 'the second auxiliary line of the group Parallel to the '=; the first auxiliary line is spaced from the nearest second auxiliary line, and the third auxiliary line is orthogonal to the first auxiliary second auxiliary line such that the end of the first auxiliary line The part is adjacent to the adjacent first auxiliary line by a first-last name. Therefore, the JV. distance system corresponds to a unit between the auxiliary J and the vehicle, the la-soil characteristic parameter, the image display plant, ς~ In the vehicle, the display unit displays the auxiliary grid line position phase; the first auxiliary line system of the Qizhu grid line and one of the vehicles is 201116433. [Embodiment] In order to enable the reviewing committee to characterize the present invention The purpose and the understanding and understanding of the step-by-step, the following describes the phase structure and the design concept of the present invention, so as to understand the characteristics of the present invention, the detailed description is as follows: As shown in the figure - the figure is the parking aid of the present invention: Method comprising the following steps, firstly steps: 1 ϋ to - Vehicle - A secondary grid line group. The car has a number of characteristic parameters for small cars, phase cars, large vans or cargo vibrations. Please refer to Figure 2 for a view of the vehicle and the auxiliary grid group. There are at least three parameters, the first special case, the vehicle 1 second feature I number 9 car reduction ^ is the width of the vehicle w' the length of the vehicle == Lw and the third characteristic parameter is The auxiliary grid plate is composed of a first auxiliary line (10), two and 102, and a group of third auxiliary lines _104 = 100 two: two auxiliary lines 101 and 102 are parallel to the first auxiliary line, two middle parts An auxiliary 'line 100 is spaced from the nearest second auxiliary line 101 by a distance ^. The distance between 1G1 and 102 of the second auxiliary line of the group is 〇ff4', which is equal to the distance of one vehicle length L. In Figure 2A
中:,該組第二輔助線101與102主要是用來輔助如圖 一之平仃停車之情形。此外，如圖二β所示，該圖係為 本發，之第二辅助線另—實施例示意圖。在本實施例中了 =組第二輔助線101與105間的距離off3則等於該車輛之 寬度w’本實施例之距離off3主要是用來輔助進行如圖三B 201116433 =到車停車的情形。再回到圖二a所示，該 她第一辅助線⑽以及該組第二辅:= 2 1〇2正父使得該第—輔助線⑽之 兮 該第一辅助、線⑽之端部位 要兄月的疋’ 斷不碰觸到障礙物之位置。兮二將公’以判 成組弟二補助線103與104夕 =的=係對應車輛所具有之U徵參數 輛之寬度w。在另—實施例中，圖二八與圖二 口 = =請或一5亦可以整合形成如以 ^明的是’由於車輛！的寬度w、車長[以及最小 1轉半=K是已知’所以對於—已知的停車格的條件下， 體可：：車Ϊ可以順利停入車格内而不會與車格周圍的物 紅’ j 車輛、安全島或者是障礙物等發生碰撞，該車 車長L、最小迴轉半徑R、該第-特徵距離： 第一特：距離間，在著如式⑴所示之邊界幾何關係： {R ~ {Ί})=((R ~ (y) ~°ff^+(φ+ο/Α)2/2...................... 其中’ R係為該第三特徵參數、w係為該第 係為該第二雜參數，_為該第i / /為 第二特徵距離。j：中該第—熱減^二#2係為°亥 第三特fi…：二九 長度係不超過該 -特H咸去㈣-特徵參數之—半。而第二特徵距 紙的最大值不超過最小迴轉半徑與車寬W一 式（2)所示。 卞左，划 ............................... 至於如何求出方程式⑴之與峨，使用者可以先決定峨之 201116433Medium: The second auxiliary lines 101 and 102 of the group are mainly used to assist the situation of parking in Fig. 1 . In addition, as shown in FIG. 2, the figure is a schematic diagram of the second auxiliary line and the second embodiment. In the present embodiment, the distance between the second auxiliary lines 101 and 105 is equal to the width w' of the vehicle. The distance off3 of the embodiment is mainly used to assist the situation in Figure 3B 201116433 = parking to the vehicle. . Returning to Figure 2a, the first auxiliary line (10) and the second auxiliary of the group: = 2 1 〇 2 Orthodox so that the first auxiliary line (10) is at the end of the first auxiliary line (10) The brother-in-law's 疋's do not touch the position of the obstacle. The second is to determine the width w of the U-signal parameter that the vehicle has in the vehicle. In another embodiment, Figure VIII and Figure 2 = = please or a 5 can also be integrated to form as ^ is due to the vehicle! The width w, the length of the car [and the minimum 1 turn and half = K is known] so for the condition of the known parking space, the body can:: the rut can be smoothly parked into the compartment without surrounding the compartment The objection red ' j vehicle, safety island or obstacles, etc. collision, the car length L, the minimum radius of gyration R, the first feature distance: the first special: between the distance, at the boundary shown in equation (1) Geometric relationship: {R ~ {Ί})=((R ~ (y) ~°ff^+(φ+ο/Α)2/2................. ..... where 'R is the third characteristic parameter, w is the second system is the second parameter, _ is the second feature distance of the i / /. j: the first heat reduction ^二#2系为°海三特特fi...: The twenty-nine length system does not exceed the --H salt to (four)-the characteristic parameter - half. The second characteristic distance paper maximum does not exceed the minimum radius of gyration and the car The width W is expressed by the formula (2). 卞Left, stroke............................... As for how to find the equation (1) And 峨, users can first decide 峨之201116433
$寸，帶入式（1)後再算出畎；或者是先決定紙之尺寸， π入式（1)後再异出峨。至於先決定之说或紙之大小為 何，則根據使用者停車需求而定，並無一定之限制。經過 式（1)演鼻之結果可以得知，第一輔助線1〇〇之線段長度為 =+2χ吼’而第二輔助線為平行100且相距说之線段， '、又為π+2χ紙，弟一輔助線105為平行於第二辅助線1〇1 距車寬W之線段，其長度為妒+2x畎’第二辅助線102 /订於第二輔助線101且相距車長L(〇#4)之線段，其長 。為妒+ 2\紙’第二輔助線⑽與為車輛邊緣向後延 線’為車輛向後直行車體移動之延伸線。 :間圓—所示’㈣zu之後，以步驟Μ使該第一 f助線與該車輛之—特徵位置相贿。在本實施例中該 接^位^係為該車輛後方的保險桿邊緣，但不以此為限。 使該車輛與要停入之-車位相鄰之-第- “閱料二特徵距離1係° 口再麥閱圖四A盘圖pqR, 立 所不，其中圖四Α係為平行停車干 1 = 係為倒車停車示意圖。在圖四A中4第 =’亦即，讓該停車格91之邊線911 :、j ㈣與鮮，而賴料格91之底線 戒。除了以停車格91之格 ^^特徵距離 以停放在車位90前方、^第一基準物之外，亦可 如果是以停放車輛92為第為該第—基準物。 私，如保險㈣者是最末端之輕邊界以及 1 201116433 放車輛之側邊來作為調整該第一特徵距離〇//；與該第二特徵 距離〇#2之基準。此外、如圖四B所示，在倒車時，如果以 車位93鄰近的停車格94作為該第一基準物的話，則利用 該停車格94的格線940與941來調整該第一特徵距離哝與 該第二特徵距離吮。如果是用停放車輛作為該基準物的 話，則以該停放車輛之車頭前緣以及該停放車輛之側邊來 調整該第一特徵距離〇//；與該第二特徵距離〇#2。 再回到圖二所示，調整之後，以步驟23進行一判斷程 序確認車輛是否可以停入車位内。判斷的方式如下：如圖 四A所示，以平行停車為例，當以步驟22調整好位置之後， 可以判斷車位的長度是否大於該組第二輔助線間101與 102的距離畎。如果大於的話，表示車位夠大可以步驟24 將車停入，反之如果小於的話，則代表無法停入，則以步 驟25尋找新車位。要說明的是，由於圖四A之實施例為平 行停車，因此第二組輔助線101與102間的距離吮係為車 輛的車長L。反之如圖四B所示，如果是倒車停車的話， 該第二組辅助線101輿105的距離喊則為車輛之寬度W， 因此需判斷車位93的寬度是否大於該第二輔助線101與 105的距離吮，如果大於的話，表示車位夠大可以停入， 反之如果小於的話，則代表無法停入。 再回到圖二所示，判斷的結果如果是可以將車輛停入 該車位的狀態的話，則以步驟24以一停車程序將該車輛停 入至該車位。首先說明平行停車的方式，如圖五A至五D 所示，其中圖五A係為平行停車程序流程示意圖；圖五B 至圖五D則為平行停車動作示意圖。首先以步驟240，使 10 201116433 該車輛以該車辆所具有之一最小迴轉半徑進行一第一轉向 倒車動作。本實施例中該第一轉向係為逆時針轉向。如圖 五B所示，當該輔助格線中離該第一輔助線100最遠之第 二輔助線102與該組第三輔助線103與104之相交的兩個 ' 交錯位置1020與1021分別與該車位90後方之一第二基準 " 物重疊時，停止該第一轉向倒車動作。在圖五B中，該第 二基準物可以分別為後方停車格95的格線950與951或者 是停放在車格90後方的車輛96的格線或者是分隔島的兩 φ 侧邊等，但不以此為限。然後以步驟241，使該車輛1進 行直線倒車的動作。如圖五C所示，直到與該第一輔助線 100最近之第二輔助線101與第三辅助線103之相交處與 該第二基準物（格線950)重疊時停止直線倒車動作。最後 再以步驟242，使該車輛進行一第二轉向倒車動作（本實施 例為順時針轉向），使該車輛停入該車位，如圖五D所示， 以完成平行停車程序。 要說明的是，進行步驟240至242的方式可以為駕駛 φ 者透過顯示器，以目視輔助線與第一與第二基準物的關 • 係，利用手動的方式將車輛停入車格内。除此之外，更可 - 以利用影像辨識的方式，輔以自動轉向控制的機制，使得 車輛自動停至車格内。至於車輛的自動轉向以及自動倒車 行進的技術，已為熟悉此項技術之人所知之技術，只要搭 配本發明之輔助格線的機制配合影像與自動控制的技術， 即可完成自動停車入車格的動作。$ inch, bring in the formula (1) and then calculate the 畎; or first determine the size of the paper, π into the formula (1) and then 异. As for the first decision or the size of the paper, there is no limit to the user's parking needs. It can be known from the result of the formula (1) that the length of the line of the first auxiliary line 1〇〇 is =+2χ吼' and the second auxiliary line is parallel to the line 100 and the distance from the line, ', and π+2χ The paper-assisted line 105 is a line segment parallel to the second auxiliary line 1〇1 from the vehicle width W, and has a length of 妒+2x畎', the second auxiliary line 102/set to the second auxiliary line 101 and is separated by the length L. (〇#4) The line segment, its length. The 辅助 + 2 \ paper 'second auxiliary line (10) and the backward line for the vehicle edge' are the extension lines for the vehicle to move backwards to the vehicle body. : Inter-circle - after the '(4) zu, the first f-assisted line is bribed with the characteristic position of the vehicle. In this embodiment, the connector is the edge of the bumper behind the vehicle, but is not limited thereto. Make the vehicle adjacent to the parking space to be parked - the first - "Reading material 2 feature distance 1 system ° mouth and then read the map A A disk map pqR, stand not, of which Figure 4 is a parallel parking lot 1 = is the reverse parking diagram. In Figure 4A, the 4th = 'that is, let the parking grid 91 side line 911:, j (four) and fresh, and the bottom line of the grid 91. In addition to the parking grid 91 ^^ The feature distance is to be parked in front of the parking space 90, outside the first reference object, or in the case of the parking vehicle 92 as the first reference object. Private, such as insurance (four) is the lightest boundary at the end and 1 201116433 The side of the vehicle is placed as a reference for adjusting the first characteristic distance 〇//; and the second characteristic distance 〇#2. In addition, as shown in FIG. 4B, when parking is reversed, if the parking is adjacent to the parking space 93 When the grid 94 is used as the first reference, the first feature distance 哝 and the second feature distance 吮 are adjusted by the grid lines 940 and 941 of the parking space 94. If the parked vehicle is used as the reference object, Adjusting the first feature distance with the front edge of the parked vehicle and the side of the parked vehicle //; Distance to the second feature 〇#2. Returning to Figure 2, after the adjustment, a determination procedure is performed in step 23 to confirm whether the vehicle can be parked in the parking space. The manner of judgment is as follows: As shown in the example of parallel parking, after adjusting the position in step 22, it can be determined whether the length of the parking space is greater than the distance 畎 between the second auxiliary line 101 and 102 of the group. If it is larger, the parking space is large enough to step 24 If the vehicle is not allowed to stop, if it is not possible to stop, then the new parking space is searched for in step 25. It is to be noted that since the embodiment of Fig. 4A is parallel parking, the second group of auxiliary lines 101 and 102 The distance is the length L of the vehicle. Conversely, as shown in FIG. 4B, if the parking is stopped, the distance of the second group of auxiliary lines 101舆105 is the width W of the vehicle, so the width of the parking space 93 needs to be determined. Is it greater than the distance 该 between the second auxiliary lines 101 and 105? If it is larger, it means that the parking space is large enough to stop, and if it is less than, it means that it cannot be stopped. Returning to Figure 2, the result of the judgment is as follows. If the vehicle can be parked in the parking space, the vehicle is parked into the parking space by a parking procedure in step 24. First, the manner of parallel parking is illustrated, as shown in Figures 5A to VD, wherein Figure 5A It is a schematic diagram of the parallel parking procedure flow; Figure 5B to Figure 5D are schematic diagrams of parallel parking operations. First, in step 240, 10 201116433 the vehicle performs a first steering reverse operation with one of the minimum turning radius of the vehicle. In the embodiment, the first steering system is counterclockwise steering. As shown in FIG. 5B, the second auxiliary line 102 and the third auxiliary line that are the farthest from the first auxiliary line 100 in the auxiliary grid line. When the two 'interlaced positions 1020 and 1021 intersecting with 103 and 104 overlap with the second reference " one of the rear of the parking space 90, respectively, the first steering reverse operation is stopped. In FIG. 5B, the second reference object may be the grid lines 950 and 951 of the rear parking space 95 or the grid lines of the vehicle 96 parked behind the vehicle compartment 90 or the two φ sides of the separation island, etc., but Not limited to this. Then, in step 241, the vehicle 1 is caused to perform a linear reverse operation. As shown in Fig. 5C, the linear reverse operation is stopped until the intersection of the second auxiliary line 101 and the third auxiliary line 103 closest to the first auxiliary line 100 overlaps with the second reference (grid line 950). Finally, in step 242, the vehicle is subjected to a second steering reverse operation (clockwise steering in this embodiment) to stop the vehicle from entering the parking space, as shown in FIG. 5D, to complete the parallel parking procedure. It should be noted that the steps 240 to 242 can be performed by driving the φ through the display to visually guide the auxiliary line to the first and second references, and manually stop the vehicle into the compartment. In addition, it is possible to use the image recognition method, supplemented by the automatic steering control mechanism, so that the vehicle automatically stops in the compartment. As for the technology of the automatic steering of the vehicle and the automatic reverse travel, the technology known to those skilled in the art can be automatically parked into the vehicle by the mechanism of the auxiliary grid of the invention combined with the image and automatic control technology. The action of the grid.
另外，對於倒車停車而言，如圖六A至圖六C所示， 其中圖六A係為倒車停車流程示意圖；而圖六B至圖六C 201116433 係為倒車停車動作示意圖。在倒車停車的過程中首先以步 驟240a使該車輛以該車輛所具有之一最小迴轉半徑進行 第一轉向倒車動作，以形成如圖六B之狀態。步驟240a中 的第一轉向，在圖六B中係指逆時針方向，使該車輛1之 尾部進入該車位93。接著在以步驟241a，根據該車位兩側 之格線調整車輛之位置以完成倒車停車程序。在步驟241a 中，當車輛1的尾部進入車格93内時，可以改成直線倒車， 使得整台車輛1停至車格93内。要說明的是，進行步驟 240a至241a的方式可以為駕駛者透過顯示器，以目視輔 助線與第一與第二基準物的關係，利用手動的方式將車輛 停入車格内。除此之外，更可以利用影像辨識的方式，輔 以自動轉向控制的機制，使得車輛自動停至車格内。至於 車輛的自動轉向以及自動倒車行進的技術，已為熟悉此項 技術之人所知之技術，只要搭配本發明之輔助格線的機制 配合影像與自動控制的技術，即可完成自動停車入車格的 動作。藉由圖二之流程所完成的停車動作不論是平行停車 或者是倒車停車，都可以在不與鄰近車輛或障礙物碰撞的 情況下，使得車輛可以安全的進入車格内，完成停車的動 作。 請參閱圖七所示，該圖係為本發明之停車輔助系統示 意圖。該停車輔助系統3包括有：至少一影像擷取單元3 0、 一控制單元31以及一影像顯示單元32。該至少一影像擷 取單元30，其係設置於車輛1上，以擷取該車輛1周圍的 環境影像而產生一影像訊號。在本實施例中’該至少一影 像擷取單元30係設置於該車輛1之後方以擷取該車輛1之 12 201116433 後方周圍環境影像。至於該影像擷取單元30之數量可以視 需求而定，只要至少一台即可。該影像擷取單元30係可以 為電輕合裝置（charge coupled device，CCD)或者是互補 式金屬氧化半導體 （complementary metal oxide semiconductor, CMOS)等感光元件，但不以此為限。該控 ' 制單元31，其係與該影像擷取單元30電訊連接，該控制 單元31係設置於該車輛1内，該控制單元31決定一輔助 格線組，該輔助格線組之特徵以及產生方式係如前所述， φ 在此不做贅述。該影像顯示單元32，其係設置於該車輛1 内且與該影像擷取單元30以及該控制單元31電訊連接， 該顯示單元32顯示該影像訊號所對應之影像以及該輔助 格線組，其中該辅助格線組係與該車輛之一特徵位置相切 齊。本實施例之特徵位置係為該車輛之尾部保險桿的邊 緣。該影像顯示單元32係可為平面顯示器（如：液晶顯示 器、發光二極體顯示器或者是電漿電視顯示器等）或者是傳 統的陰極射線管顯示器。 φ 請參閱圖八所示，該圖係為影像顯示單元直接顯示車 * 輛後方環境影像示意圖。由於經由控制單元31所產生之輔 - 助格線組100~105係顯示在顯示單元之畫面92中，該輔助 格線組之決定方式係如前所述，再此不作贅述。另一方面 在該顯示單元所顯示之畫面92中，更顯示有影像擷取單元 所擷取到車輛後方的影像。影像擷取裝置所擷取到的背景 影像中有停車格93以及車輛1。停車格93之一側具有用 來調整該第一特徵距離说與該第二特徵距離畎之格線940 與941。由於本實施例的圖示，沒有經過視角的轉換，因 13 201116433 此在影像顯示單元上所顯示對應之輔助格線組的狀態係如 圖八之狀態。反之，如圖九所示，藉由至少一影像擷取單 元所擷取到的影像可以由控制單元進行影像處理，將視角 進行轉換，而形成如圖九的俯視影像，而輔助格線組則緊 鄰於車輛尾端的保險桿邊界上。藉由圖七的停車輔助系 統，使用者可以藉由影像顯示單元所顯示之車輛周圍環境 與輔助格線組，來進行平行停車或者是倒車停車，以完成 安全且不會與周圍物體碰撞之停車動作。 惟以上所述者，僅為本發明之實施例，當不能以之限 制本發明範圍。即大凡依本發明申請專利範圍所做之均等 變化及修飾，仍將不失本發明之要義所在，亦不脫離本發 明之精神和範圍，故都應視為本發明的進一步實施狀況。 14 201116433 【圖式簡單說明】 圖一係為本發明之停車辅助方法流程示意圖。 圖二A係為車輛俯視以及輔助格線組示意圖。 - 圖二B係為本發明之第二辅助線另一實施例示意圖。 圖二C係為本發明整合兩組第二辅助線之實施例示意圖。 圖二A與圖二B係為停車態樣不意圖。 圖四A係為平行停車時，輔助線組與基準物關係示意圖。 ^ 圖四B係為倒車停車時，輔助線組與基準物關係示意圖。 圖五A係為平行停車程序流程示意圖。 圖五B至圖五D則為平行停車動作示意圖。 圖六A係為倒車停車流程示意圖。 圖六B至圖六C係為倒車停車動作示意圖。 圖七係為本發明之停車辅助系統示意圖。 圖八係為影像顯示單元直接顯示車輛後方環境影像示意 圖。 • 圖九係為影像顯示單元顯示經過轉換之俯視影像示意圖。 【主要元件符號說明】 1 -車辅 100〜105-輔助線 1020、1021-交錯位置 2-停車輔助方法 20〜25_步驟 15 201116433 240〜242 -步驟 240a〜241a-步驟 3-停車辅助系統 30- 影像擷取單元 31- 控制單元 32- 影像顯示單元 90、 93-車位 91、 94、95、96-停車格 910 -底線 911-邊線 940、941、950、951-格線 92-車輛 92-晝面In addition, for the reverse parking, as shown in FIG. 6A to FIG. 6C, FIG. 6A is a schematic diagram of the reverse parking process; and FIG. 6B to FIG. 6C 201116433 is a schematic diagram of the reverse parking operation. In the reverse parking process, the vehicle first performs a first steering reverse operation with a minimum radius of gyration of the vehicle in step 240a to form a state as shown in Fig. 6B. The first turn in step 240a, in Fig. 6B, refers to the counterclockwise direction, causing the tail of the vehicle 1 to enter the parking space 93. Next, in step 241a, the position of the vehicle is adjusted based on the grid lines on both sides of the parking space to complete the reverse parking procedure. In step 241a, when the tail of the vehicle 1 enters the compartment 93, it can be changed to a straight reverse, so that the entire vehicle 1 is parked in the compartment 93. It is to be noted that the manner in which steps 240a to 241a are performed may allow the driver to manually stop the vehicle into the vehicle compartment through the display to visually recognize the relationship between the auxiliary line and the first and second reference objects. In addition, the image recognition method can be used, supplemented by the automatic steering control mechanism, so that the vehicle automatically stops in the compartment. As for the technology of automatic steering and automatic reversing of vehicles, techniques known to those skilled in the art can be completed by automatically matching the technology of the auxiliary grid with the image and automatic control technology of the present invention. The action of the grid. The parking action completed by the process of Fig. 2 can make the vehicle safely enter the vehicle compartment and complete the parking action without colliding with adjacent vehicles or obstacles, whether it is parallel parking or reverse parking. Please refer to FIG. 7, which is a schematic diagram of the parking assist system of the present invention. The parking assist system 3 includes at least one image capturing unit 30, a control unit 31, and an image display unit 32. The at least one image capturing unit 30 is disposed on the vehicle 1 to capture an environmental image around the vehicle 1 to generate an image signal. In the present embodiment, the at least one image capturing unit 30 is disposed behind the vehicle 1 to capture an image of the surrounding environment of the rear of the vehicle 1 . The number of the image capturing units 30 can be determined as needed, as long as at least one is available. The image capturing unit 30 may be a photosensitive element such as a charge coupled device (CCD) or a complementary metal oxide semiconductor (CMOS), but is not limited thereto. The control unit 31 is in telecommunication connection with the image capturing unit 30. The control unit 31 is disposed in the vehicle 1. The control unit 31 determines an auxiliary grid group, the characteristics of the auxiliary grid group and The production method is as described above, and φ will not be described here. The image display unit 32 is disposed in the vehicle 1 and is in telecommunication connection with the image capturing unit 30 and the control unit 31. The display unit 32 displays an image corresponding to the image signal and the auxiliary grid group. The auxiliary grid group is aligned with the characteristic position of one of the vehicles. The feature position of this embodiment is the edge of the rear bumper of the vehicle. The image display unit 32 can be a flat panel display (e.g., a liquid crystal display, a light emitting diode display, or a plasma television display) or a conventional cathode ray tube display. φ Please refer to Figure 8 for the image display unit to directly display the image of the rear environment of the vehicle. Since the auxiliary-help grid groups 100-105 generated by the control unit 31 are displayed on the screen 92 of the display unit, the manner of determining the auxiliary grid group is as described above, and will not be described again. On the other hand, in the screen 92 displayed by the display unit, the image captured by the image capturing unit to the rear of the vehicle is displayed. The background image captured by the image capture device includes a parking space 93 and a vehicle 1. One side of the parking compartment 93 has grid lines 940 and 941 for adjusting the distance between the first feature distance and the second feature. Due to the illustration of the embodiment, there is no transition of the viewing angle, and the state of the corresponding auxiliary grid group displayed on the image display unit is as shown in FIG. On the other hand, as shown in FIG. 9 , the image captured by the at least one image capturing unit can be processed by the control unit to convert the angle of view to form a top view image as shown in FIG. 9 , and the auxiliary grid group is Adjacent to the bumper boundary at the end of the vehicle. With the parking assist system of Figure 7, the user can perform parallel parking or reverse parking by means of the surrounding environment of the vehicle and the auxiliary grid group displayed by the image display unit to complete the parking that is safe and does not collide with surrounding objects. action. However, the above is only an embodiment of the present invention, and the scope of the present invention is not limited thereto. It is to be understood that the scope of the present invention is not limited to the spirit and scope of the present invention, and should be considered as further implementation of the present invention. 14 201116433 [Simple description of the diagram] Figure 1 is a schematic diagram of the flow of the parking assistance method of the present invention. Figure 2A is a schematic view of the vehicle's top view and auxiliary grid lines. - Figure 2B is a schematic view of another embodiment of the second auxiliary line of the present invention. Figure 2C is a schematic diagram of an embodiment of the present invention integrating two sets of second auxiliary lines. Figure 2A and Figure 2B are not intended to be parking. Figure 4A is a schematic diagram showing the relationship between the auxiliary line group and the reference object when the vehicle is parked in parallel. ^ Figure 4B is a schematic diagram showing the relationship between the auxiliary line group and the reference object when the vehicle is parked. Figure 5A is a schematic diagram of the parallel parking procedure flow. Figure 5B to Figure 5D are schematic diagrams of parallel parking operations. Figure 6A is a schematic diagram of the reverse parking process. Figure 6B to Figure 6C are schematic diagrams of the reverse parking action. Figure 7 is a schematic diagram of the parking assist system of the present invention. Figure 8 is a schematic diagram showing the image of the environment behind the vehicle directly displayed by the image display unit. • Figure IX shows a schematic image of the converted image display unit. [Description of main component symbols] 1 - Vehicle auxiliary 100 to 105 - Auxiliary line 1020, 1021-Interlaced position 2 - Parking assist method 20 to 25_Step 15 201116433 240 to 242 - Steps 240a to 241a - Step 3 - Parking assist system 30 - Image capturing unit 31 - Control unit 32 - Image display unit 90, 93 - Parking spaces 91, 94, 95, 96 - Parking grid 910 - Bottom line 911 - Side lines 940, 941, 950, 951 - Grid 92 - Vehicle 92 - Face
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