201223805 六、發明說明： 【發明所屬之技術領域】 本發明係有關一種停車彡丨導方法及穿 各種停車模式之預設停車指5丨樞， 引導方法及裝置。 置，特別是指一種可預先估算出 以輔助駕駛者快速且精準地停車之停車 【先前技術】 隨著科技與器械突飛猛進，如汽車，作為載運與運輸工具，讓人類生 活品質大幅改善，且早已扮演著重要且不可或缺角色。因此，在汽車數量 快速攀升與面臨大都會寸地難求下，所造成交通餘與相對地停車空_ 力倍加，常見到駕駛者為了尋轉車位铜_祕_多時，其卜有絕 大多數是苦見無車位以外，也有部分可能是錯過了停車位，又無法回頭而 必須再重新找尋新的停車空間，又或者，駕駛者找到停車位，但可能因方 向盤操作、障礙物觀測、行車軌跡或停車空間贼等驗經驗不足，只能 藉由來回_車扣確錢魏額停車，如此郷造絲_利停入停 車位中的窘境。若仍無法停人停車位中，除了浪費_外依然只能放棄 該h車位而重新找尋》諸如此類的情形，每日在大街小巷中不斷上演除 耗時費力以外’若在車水職的道財断路邊停車難免騎後方來車 的動線’造成交通阻礙，更甚者，發生交通意外。 為改善停車之問題’近年來在汽車的發展上 ，漸漸地朝向電子化、安 全化的方向發展’試圖發展出各類的電子或機構輔助駕駛人行車。如中華 民國發明專 1229645號’係揭露—種停車獅裝置，包括—影像捕捉單 兀、一配置於駕駛座附近之監視器、一偏航角度檢知單元、一引導單元以 201223805 及一控·;驗貞可鱗車迦裝置之钟資 停入-目餅物㈣輯巾，細=作，將車輛 :::Γ姆祕博糊都咖_::::::: 标5上補停車_，可魏料的動 駛者除了必_停車四職_贿簡_，脖車/驗行為’駕 掌握的很好，因此，如何提 ;車輛的停車轨跡必須 仃奸缺者贿轉確地 以及減少·作各種停車之驗操作是亟雜決的_。時間 有鑑於此，本發明遂針對上述先前技術之缺失，提出-種停車引導方 法及裝置，財效克服上叙鱗_。 ^引導方 【發明内容】 之主要目的在提供""齡車將方法及裝置，可辅助駕駛者將 輛導引到最佳起始位置’使駕駛者能更快速且準確地停妥車輛，有效縮 短駕駛者停車時間。 本發明之另-目的在提供—餅車引導方法及裝置，可鮮判斷出停 車疋否足夠供車輛停入及提供最佳停車引導路徑，適用於多種停車 模式如路邊停車、倒車入庫及斜入式停車，以因應各種停車操作之需求。 為達上述之目的’本發明提供一種停車引導方法，包括下列步驟：擷 取—車輛之區域影像及偵測車輛之行車速度以取得至少一停車格，並顯示 於顯不幕上；偵測車輛與停車格間的距離及偵測車輛與一障礙物間的距 離’以取得停車格之一角度及寬度；判斷停車格是否符合車輛之停車條件， 右否’則重新擷取新的停車格，若是，則依據區域影像、行車速度及距離， 201223805 取得-現行位置與停車格之相對座標，私估算出—預設停車指引框以及 預設停車指引框與停車格間的相對位置；於顯示幕上標示預設停車指引 框’以引導車婦預設停車指引框移動至停車格進行疊合，此時車輛位於 '最佳之-起始位置；及將細停人停車格上。因此，當驗者位於最佳的 、料起錄4，即可手械自输财向_向，讓車婦速、有效 的停入停車針’ __駕駛者不再纽於驗技解好、車位狹小或 是有障礙物而感到擔心害怕的問題。 • 本發明更提供—種停車導引裝置，設在—車輛上，停車引導裝置包括 -顯示幕，設在車輛内供駕駛者觀看；至少—影像_器，設在車輛上， 以掏取-區域影像；—車速感測器，以偵測車輛之—行車速度；一距離感 測器，以偵測車輛與至少一停車格間的距離及偵測車輛與一障礙物間的距 離，及-處理^ ’連結顯示幕、影像制n、車速制器及距離感測器， 處理器依據區域影像、行車速度及距離，取得一現行位置與停車格之相對 座標以及停車格之一角度及寬度，據以估算出一預設停車指引框，以弓1導 _ 駕驶者移動車輛使預設停車指引框移動至停車格進行疊合，此時車輔位於 一起始位置，再將車輛停入停車格上。 底下藉由具體實施例詳加說明，當更容易瞭解本發明之目的、技術内 谷、特點及其所達成之功效。 【實施方式】 本發明提出一個可快速、精確的停車導引機制，請一併參閱第1圖及 第2圖’第1圖係為本發明之架構圖’第2圖係為本發明之步驟流程圖。 停車導引裝置10係設在一車輛上，當駕駛者預備尋找適當停車位置時，可 201223805 啟動停車導引裝置10，停車導引裝置10包括-顯示幕、至少一影像感 測器14車逮感湘16、至少—距離感測器18、揚聲||2()、-處理器 22及一轉向馬達控制器24，處理器22連結顯示幕12、影像感測器14、車 速感測器16、距離感測器18、揚聲器20及轉向馬達控制器24。影像感測 器16 (如攝影機或監視器）及距離感測器18較佳可為複數個，且分別設於 車輛的車頭、車尾或#雜置。龄幕U鱗—難歧晶齡幕，其設 置在車_靠近驗座位置，提供鱗者觀看行車师訊，轉向馬達控制 器24係设於車辆的方向盤上，用以控制方向盤之運作。 首先，在倾SH)中，可细影像_器14類取現行車輛前方、後方 或側方之區域影像’再利用車速感測器】6，如為輪速感知器或加速度感知 器等進-步偵測現行車輛的行車速度，據以取得至少一停車格，並顯示於 =12上。在步物中，編驗如，蝴恤離感測器， :據超音域距離以取得現行車輛與停車格間的轉及現行車輛與障礙 物間嶋，並可利用-停峨位演算法以計算出停車格之角度及寬 度’其公式如下： 公式（1)為最小所需停出寬度& : c，. =(d»count\ +H^tane^.cos^ >W + 2t 公式（2)為最小所需停出寬度l : c,2 =(d·count! -//0 ·tan.cos^ > ^ + 2/ 公式（3)為最小所需停出寬度kg阶+ 2ί : 201223805 cx3 =(d·count!-·tan^ + H ·tanθ2)·(.s.ll!^90~^) cos(^2 - 9X) 紙 <θ2)201223805 VI. Description of the Invention: [Technical Field] The present invention relates to a parking guidance method and a preset parking finger 5 pivoting, guiding method and device for wearing various parking modes. In particular, it refers to a parking that can be pre-estimated to assist the driver to stop quickly and accurately. [Prior Art] With the rapid advancement of technology and equipment, such as automobiles, as a carrier and transportation tool, the quality of human life has been greatly improved, and it has already been improved. Play an important and indispensable role. Therefore, in the rapid increase in the number of cars and the difficulty in facing the metropolitan area, the resulting traffic and relative parking space _ force double, often to the driver in order to find the parking space copper _ secret _ more than Most of them are misunderstood without a parking space. Some of them may miss the parking space, and they can't look back and have to look for new parking space again. Or, the driver can find the parking space, but it may be due to steering wheel operation, obstacle observation, and driving. There is not enough experience in the trajectory or parking space thief, and it is only possible to stop the parking by means of back and forth _ car buckles, so that the silk _ profit stops in the parking space. If you still can't stop the parking space, you can only give up the h parking space and look for it in addition to the waste _. In this case, every day in the streets and lanes, in addition to time and effort, if you are in the car Financial roadside parking is inevitable to ride the rear line of the car to cause traffic jams, and even worse, traffic accidents. In order to improve the problem of parking, in recent years, in the development of automobiles, it has gradually developed towards the direction of electronicization and security. Attempts have been made to develop various types of electronic or institutional assistance for motorists. For example, the Republic of China Inventions No. 1229645's revealed that the parking lion device includes a video capture unit, a monitor disposed near the driver's seat, a yaw angle detection unit, and a guiding unit to 201223805 and a control unit.验 贞 贞 车 车 迦 迦 迦 迦 停 - - - 目 目 目 目 目 目 目 目 目 目 目 目 目 目 目 目 目 目 目 目 目 目 目 目 目 目 目 目 目 目 目 目 目 目 目 目 目 目 目_, can be Wei Wei's mover in addition to _ parking four jobs _ bribery _, neck car / inspection behavior 'driving is very good, therefore, how to mention; vehicle parking trajectory must be slandered The ground and the reduction and the various inspections are all complicated. In view of the above, the present invention proposes a parking guidance method and apparatus for the lack of the above prior art, and the financial effect overcomes the above-mentioned scales. ^ The guiding party [invention] The main purpose of the invention is to provide a method and device for the driver to guide the driver to the best starting position to enable the driver to stop the vehicle more quickly and accurately. Effectively shorten driver parking time. Another object of the present invention is to provide a method and a device for guiding a cake car, which can judge whether the parking is sufficient for the vehicle to stop and provide an optimal parking guidance path, and is suitable for various parking modes such as roadside parking, reverse storage and slanting. Incoming parking to meet the needs of various parking operations. For the above purposes, the present invention provides a parking guidance method comprising the steps of: capturing an area image of a vehicle and detecting a driving speed of the vehicle to obtain at least one parking space and displaying it on a display; detecting the vehicle The distance between the parking space and the distance between the vehicle and an obstacle is detected to obtain the angle and width of the parking space; whether the parking space meets the parking condition of the vehicle, and whether it is right or not, the new parking space is retrieved. If yes, based on the regional image, driving speed and distance, 201223805 obtains the relative coordinates of the current location and the parking space, and privately estimates the default parking guide frame and the relative position between the preset parking guide frame and the parking space; The preset parking guide frame is marked to guide the vehicle to preset the parking guide frame to move to the parking space for superposition, and the vehicle is located at the 'best-start position; and the parking space will be stopped. Therefore, when the examiner is at the best, and the material is recorded, it can be used to transfer the money to the _ direction, so that the speed of the car and the effective stop of the parking needle __ the driver is no longer good for the test The problem of fear of fear is that the parking space is small or there are obstacles. The invention further provides a parking guiding device, which is arranged on the vehicle, the parking guiding device comprises a display screen, which is arranged in the vehicle for the driver to watch; at least the image_device is arranged on the vehicle for capturing - Regional image; - speed sensor to detect the speed of the vehicle - a distance sensor to detect the distance between the vehicle and at least one parking space and to detect the distance between the vehicle and an obstacle, and - Processing ^ 'connection display screen, image system n, vehicle speed controller and distance sensor, the processor obtains the relative coordinates of the current position and the parking space and the angle and width of the parking space according to the area image, the driving speed and the distance, According to the estimation of a preset parking guide frame, the driver moves the vehicle to move the preset parking guide frame to the parking space for folding. At this time, the vehicle auxiliary is located at a starting position, and then the vehicle is parked in the parking space. on. The details of the present invention, the characteristics of the technology, the characteristics, and the effects achieved by the present invention will be more readily understood by the detailed description of the specific embodiments. [Embodiment] The present invention provides a quick and accurate parking guidance mechanism. Please refer to FIG. 1 and FIG. 2 together. FIG. 1 is an architectural diagram of the present invention. FIG. 2 is a step of the present invention. flow chart. The parking guiding device 10 is disposed on a vehicle. When the driver is ready to find a suitable parking position, the parking guiding device 10 can be activated at 201223805. The parking guiding device 10 includes a display screen and at least one image sensor 14 Sense Hunan 16, at least - distance sensor 18, speaker || 2 (), - processor 22 and a steering motor controller 24, the processor 22 is connected to the display screen 12, the image sensor 14, the vehicle speed sensor 16. Distance sensor 18, speaker 20 and steering motor controller 24. Preferably, the image sensor 16 (e.g., camera or monitor) and distance sensor 18 may be plural and disposed at the front, rear or miscellaneous of the vehicle. The age-screen U-scale-difficult crystal-aged screen is set in the car_close to the seat position, and provides the scales to watch the trainer. The steering motor controller 24 is mounted on the steering wheel of the vehicle to control the operation of the steering wheel. First, in the tilt SH), the fine image_device 14 can take the image of the front, rear or side of the current vehicle, 'reuse the speed sensor', 6 for the wheel speed sensor or the acceleration sensor. The step detects the driving speed of the current vehicle, and accordingly obtains at least one parking space and displays it at =12. In the step, the editor, for example, the hairdressing sensor, the distance between the current vehicle and the parking space and the current vehicle and obstacles can be obtained according to the super-range distance, and the parking-stop algorithm can be used to calculate The angle and width of the parking grid' is as follows: Equation (1) is the minimum required stopping width & : c,. =(d»count\ +H^tane^.cos^ >W + 2t formula ( 2) The minimum required stopout width l : c, 2 = (d·count! -//0 · tan.cos^ > ^ + 2/ Formula (3) is the minimum required stop width kg order + 2ί : 201223805 cx3 =(d·count!-·tan^ + H ·tanθ2)·(.s.ll!^90~^) cos(^2 - 9X) Paper<θ2)
COS 公式（4)為最小所需停出寬度c；t32F + 2i : .....{θλ>θ2) 其中Ά、C,3代表車輛最小所需停車寬度，峨表車速感測器之 齒寬代表車速感測器16所偵測到車輛行駛間的總齒 、 尽、、乂代表距離感測器18偵測車輛與停車格間的距離1^代表 -已停入停車格中之車輛角度，π代表車輛之車寬，,代表車輛驶入停車格 後所需保留之車寬裕度。 為進-步說日勝配上述公絲運算停車格之角度及寬度之實施方式， 請同時配合第3圖及第4 ®，分別為偵測停車格空間第-實施例及第二實 施例之示意圖’由於目前停車格之規劃為多樣化，有左右並排之直角停車 格、前後平行之直角停車格及斜祕車料_，极種停車格類 型’皆可個本發明之停車格定位演算法來計算請車格之角度及寬度， 可因應各細⑽。纽瞻_綱嫩及寬度為 舰月田獅树車位之區域影像，且現行車輛％行走至第一個停 2 28時為取得現仃車輛％與第-個停車格Μ間的距離及現行車輛％ 與障礙物間的距離，其中隍淑4 障礙物可為連續停車格位置，其中-停車格中已 有-停車車輛30，且 個停車格28位於停車車輛30之左邊。 處理器22_超纽轉感 w取传現订車輛26與停車車輛30間超音波 J取仔停車車輛3〇的傾斜角度q，並計算現 201223805 行車輛％所行走過停車％的距離參數〜_，再依據距離參數 :“及垂直距離參贼，以及配合公式⑴之運算，即可求出第一停 車格28之角度及寬度心。 接續執行步驟S14,由處理器22根據第_停車格Μ之角度及寬度〔， 以判斷是否符合現行車柄26的車體長、寬及現行車輛％敬入第一停車格 -^ ; , =用空ΓΓ夠。若否，則由處理器22控制揚聲器2G輸出-提示訊號 4用者，並_步驟S1G ’以另行尋找新的可停放的停車格位置。合現行 車輛26«行走，_到第二贿車格32錄於停車轉3G之右邊時， 處繼利用超音波距離感測器取得現行車輛26與停車車輛30間超音波 回傳的垂直距離參數心並計算現行車輛％所行走過第二贿車格32的 Γ參數心_2，再依據距離參數〜_2及垂直距離參η，以及配 。公式⑵之運算’即可求出第二個停車格32之角度及寬度C〆此外， 2測到新的第三個停車格34位置係位於兩台停車車輛的中間時，則處理 可利用超音波距離感測器取得現行車輛26與第一台停車車輛36間超 〜皮回距離參數I進㈣取得第—台停車車輛36賴斜角度 Θ,，再沿者現行車輛26行走方向依序_並取得垂直雜參數Η、丹、 =其中侧軸錄V卩娜第屬車伽峨斜角仏， 於算見订車輛26所仃走過第三個停車格34的距離參數心刪2。若 2 ’則依據距離參數一2及垂直距離觀十並配合公式⑴ 之運算’即可求出第三侧亭車格34之角度及寬度Q ,大於心 距離參數一2及垂直距離參，並配合公式⑷之運算’ 201223805 即可求出第三個停車格34之角度及寬度 右判斷停車格為符合現行車辆％之停車條件時，停車格可藉由一停車 位置選擇框而選擇標定，如由駕駛者手動選取標定，且於完成標定後，停 車位置選擇框會在顯示幕12之停車格上持續顯示，即可執行下一步驟 S16 ’處㈣22依據區域影像、行車速度及現行車輛與停車格_距離， 轉一現行位置鱗料之㈣鍊，並顧—科雜湖演算法以估 异出-預設停車指引㈣及預設停車指引框與停車格_相對位置。由於 鲁經停車格定位演算法可計算出停車格之角度及寬度，進而得知停車格類 型’請同時配合第5 (a)至5 (〇目，在此以輔助駕駛者將現行車輛茈 停入具左右並排的直角停車格中為例說明，此直角停車格類型屬於倒車入 庫的停車模式。其中，停車路徑規触算法係由下列公式⑷所組成： β·\ΆΆθ = ά ； ‘， 及Scos0+ 〇/?-〇?) = (_/?s+y?)cosa ;及 ^-d)tma + {Rs+R-[(R^d)/c〇sa]}sina + R^in0 = e . ® 其中，代表車輛之第-迴轉半徑，<代表車輛之第二迴轉半徑，a代 表第-迴轉半徑與第二迴轉半徑間之夾角角度，峨表車輛之起始位置距停 車格之中心位置的垂直距離，峨表車輛之該起始位置距停車格之中心位置 的水平距離，α代表起始位置與停車格之間的夾角角度。 其中Λ、足之預設參數為車輛最小迴轉半徑，^之預設參數係依據現 行車輛26之現行位置與停車格4〇之相對座標所產生，作為預設停車指引 框42，再利用停車路徑規劃演算法反推計算jβα，以取得駛入現行車 輛26與停車格40之間的相對位置，如第5⑻所示。接著執行步驟s 201223805 顯示幕I2上標示停車格4〇及預設停車指引框42，駕駛者可以參考顯示幕 12移動現行車輛26，如第5(b)所示’將預設停車铜框42鶴至停車格 4〇進行疊合後’此時現行車辅26位於最佳的起始位置，如第5(c)所示；由 此步驟可得知，本發明可提供預設停車指引框42來輔助駕敬者將現行車輛 26導引到最佳起始位置’不僅能提供駕歇者進行停車角度微調動作，又可 確認停車格位置，能有效提升使用本發明停車引導裝置的信心度。最後執 行步驟咖，駕駛者可選擇手動操作方向盤，由於現行車輛叫立於最佳起 始位置’因此，駕駛者能更快速且準確地將現行車輛％停入停車格4〇中， 有效縮短駕駛者的停車時間。此外，停車導引裝置1〇更包括一轉向感測器 私’連結處理器22，且設於現行車輛26的方向盤上，用以獲取現行車辆 %在倒車人庫行進當中的車體偏耗度，當駕駛者以手動操作方向盤執行 停車動作時，處理器22會依據車體偏移角度、影像感測器14所操取之倒 車影像及距離細18所偵測的障礙物距離，並輸出對應之控制訊號予顯 7 12及細2G ’吻_晰輪％的嫩_常狀況(例如 出警不語音或警示燈號等)給駕駛者，藉以提高停車的安全性。當缺，除 =動操作方向盤之外’亦可啟動自動控制方向盤模式，處理器Μ依據自 盤之輪人訊號’ ___器24控制方_動執行 入綱4G w视，贿瓣撕的便利性， 格4 、在車水馬龍的街道旁’快速將車停入停車 ’可以避免造成妨礙後方輕動線，降低事故發生情形。 综上所述，利用本發明所提出之停車導 斷出停車格㈣衫足夠㈣奸人/ _雜可精準判 、T適用於偵測各種角度的停車格類 201223805 洛及斜角停車格， ’如路邊停車、倒 型，例如左右鱗之直祕車格、祕平行之直角停車格 又能具體提供最娜翔導職，_料齡車模式， 如此駕駛不需要長時 車入庫及斜人式停車，明應各種停轉作之需求， ’移車輛尋求停車角度，也可以有效節省停車時間。 ’並非用來限定本發明 及精神所為之均等變化 唯以上所述者’僅為本發明之較佳實施例而已 實施之範® 〇 依本發明申誠_述之特徵 或修飾，均應包括於本發明之申請專利範圍内。 _ 【圖式簡單說明】 第1圖為本發明之架構圖。 第2圖為本發明之步驟流程圖。 第3圖為本發明偵測停車格空間第一實施例之示意圖。 第4圖為本發明姻停車格空間第二實施例之示意圖。 第5 (a)至5 (e)圖為本發則導車輛將預設停車指引框與停車格進行疊 合之示意圖。 • 【主要元件符號說明】 10停車導引裝置 12顯示幕 14影像感測器 Μ車速感測器 18距離感測器 20揚聲器 22處理器 201223805 24轉向馬達控制器 26現行車輛 28第一個停車格 30停車車輛 32第二個停車格 34第三個停車格 36第一台停車車輛 38第二台停車車輛 40停車格 42預設停車指引框 44轉向感測器COS formula (4) is the minimum required stop-out width c; t32F + 2i: .....{θλ>θ2) where Ά, C, 3 represent the minimum required parking width of the vehicle, and the teeth of the vehicle speed sensor The wide representative vehicle speed sensor 16 detects the total tooth, the end, and the 乂 representative distance sensor 18 detects the distance between the vehicle and the parking space. 1^ represents the angle of the vehicle that has been parked in the parking space. , π represents the width of the vehicle, and represents the width of the vehicle that needs to be reserved after the vehicle enters the parking space. For the implementation of the above-mentioned method for the angle and width of the above-mentioned skein parking space, please also cooperate with the 3rd and 4th, respectively, for detecting the parking space, the second embodiment and the second embodiment. Schematic 'Because the current parking grid planning is diversified, there are left and right side-by-side right-angle parking spaces, front and rear parallel right-angle parking spaces and oblique car materials _, extreme parking spaces type can be a parking space positioning algorithm of the present invention To calculate the angle and width of the car, please refer to the details (10). New Zealand _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ % The distance from the obstacle, wherein the 4 4 obstacle can be a continuous parking space position, wherein - the parking space 30 is already in the parking space, and the parking space 28 is located to the left of the parking vehicle 30. The processor 22_super-turning sense w takes the angle of inclination of the ultrasonic vehicle J between the existing vehicle 26 and the parking vehicle 30, and calculates the distance parameter of the current parking number of the vehicle 2012%. _, according to the distance parameter: "and the vertical distance thief, and the operation of formula (1), the angle and width of the first parking space 28 can be obtained. Then step S14 is executed, and the processor 22 is based on the _ parking space. The angle and width of the cymbal [to determine whether the body length and width of the current handle 26 and the current vehicle% are respected into the first parking space - ^ ; , = is sufficient; if not, it is controlled by the processor 22 Speaker 2G output - prompt signal 4 user, and _ step S1G 'to find a new parking space that can be parked. The current vehicle 26 «walking, _ to the second bribe compartment 32 recorded on the right side of the parking turn 3G The ultrasonic distance sensor is used to obtain the vertical distance parameter of the ultrasonic return between the current vehicle 26 and the parking vehicle 30, and the current vehicle % has passed the second parameter of the second bribe 32, and then According to the distance parameter ~_2 and the vertical distance η, With the operation of formula (2), the angle and width of the second parking space 32 can be obtained. In addition, 2 when the new third parking space 34 position is located in the middle of the two parking vehicles, the processing can be The ultrasonic distance sensor is used to obtain the super-pitch distance parameter between the current vehicle 26 and the first parking vehicle 36. (4) Obtain the first parking vehicle 36 at an oblique angle Θ, and then follow the current vehicle 26 walking direction. Preface _ and obtain the vertical miscellaneous parameters Η, Dan, = where the side axis records V卩na's first car 峨 峨 angle 仏, in the calculation of the vehicle 26 仃 walked through the third parking space 34 distance parameter delete 2 If 2 ', according to the distance parameter 2 and the vertical distance view and the operation of the formula (1), the angle and width Q of the third side pavilion 34 can be obtained, which is greater than the distance parameter 2 and the vertical distance. With reference to the operation of formula (4) '201223805, the angle and width of the third parking space 34 can be obtained. When the parking space is judged to be in accordance with the current vehicle% parking condition, the parking space can be selected by a parking position selection box. Select the calibration, such as the driver manually select the calibration, and finish After calibration, the parking position selection box will continue to be displayed on the parking space of the display screen 12, and the next step S16 '(4) 22 can be performed according to the area image, the driving speed and the current vehicle and parking space _ distance, and the current position squama (4) chain, and Gu-Kehu Lake algorithm to estimate the difference between the default parking guide (4) and the preset parking guide frame and the parking space _ relative position. The parking space lattice positioning algorithm can calculate the angle of the parking space And the width, and then know the type of parking space 'please also cooperate with the 5th (a) to 5 (the item, here to help the driver to stop the current vehicle in the right-angle side-by-side parking space as an example, this right angle The parking space type belongs to the parking mode of reverse storage. Among them, the parking path regulation algorithm is composed of the following formula (4): β·\ΆΆθ = ά ; ', and Scos0+ 〇/?-〇?) = (_/?s+ y?)cosa ; and ^-d)tma + {Rs+R-[(R^d)/c〇sa]}sina + R^in0 = e . ® where represents the vehicle's first-turn radius, < Representing the second radius of gyration of the vehicle, a represents the angle between the first gyration radius and the second gyration radius, The vehicle parked starting from the position of the center position of the vertical distance from the vehicle frame, the included angle between the initial position of the vehicle from the center table Bauer parking position of the grid of the horizontal distance, [alpha] represents the starting position of the parking frame. The preset parameters of the Λ and the foot are the minimum gyration radius of the vehicle, and the preset parameters are generated according to the current position of the current vehicle 26 and the relative coordinates of the parking space 4, as the preset parking guide frame 42, and the parking path is reused. The planning algorithm inversely calculates jβα to obtain the relative position between the current vehicle 26 and the parking space 40, as shown in the fifth (8). Then, step s 201223805 displays the parking space 4〇 and the preset parking guide frame 42 on the display screen I2, and the driver can refer to the display screen 12 to move the current vehicle 26, as shown in the fifth (b), the preset parking copper frame 42 After the crane to the parking compartment 4 is overlapped, 'the current vehicle auxiliary 26 is at the optimal starting position, as shown in the fifth (c); this step can be seen that the present invention can provide a preset parking guide frame. 42 to assist the driver to guide the current vehicle 26 to the optimal starting position' not only can provide the driver to perform the parking angle fine-tuning action, but also confirm the parking space position, which can effectively improve the confidence of using the parking guidance device of the present invention. . Finally, the driver can choose to manually operate the steering wheel. Since the current vehicle is in the best starting position, the driver can quickly and accurately park the current vehicle% into the parking space, effectively shortening the driving. Parking time. In addition, the parking guiding device 1 further includes a steering sensor private connection processor 22, and is disposed on the steering wheel of the current vehicle 26 for acquiring the current vehicle% in the reverse vehicle traveling. When the driver performs the parking action by manually operating the steering wheel, the processor 22 outputs according to the vehicle body offset angle, the reverse image captured by the image sensor 14 and the obstacle distance detected by the distance fine 18, and outputs Corresponding control signals are given to the driver and the 2G and the 2G 'kiss _clear round % of the tender _ regular conditions (such as the police do not voice or warning lights, etc.) to the driver, in order to improve the safety of parking. When it is missing, in addition to the = operating steering wheel, 'can also start the automatic control of the steering wheel mode, the processor Μ according to the wheel of the wheel signal ___ 24 control party _ move to enter the 4G w view, the convenience of bribery Sex, grid 4, in the busy street, 'quickly park the car into the parking' can avoid obstructing the rear light moving line and reducing the accident. In summary, the parking space that is proposed by the present invention is sufficient to stop the parking compartment (four) shirts (four) traitors / _ miscellaneous can be accurately judged, T is suitable for detecting various angles of parking spaces 201223805 Luo and bevel parking spaces, ' Such as roadside parking, inverted type, such as the left and right scales of the secret car compartment, the secret parallel right angle parking compartment can also provide the most Naxiang guide, _ ageing car mode, so driving does not require long-term car storage and oblique people Parking, clear all kinds of parking needs, 'moving vehicles to seek parking angle, can also effectively save parking time. 'Equivalents and modifications that are not intended to limit the invention and the spirit of the invention. The features or modifications that have been implemented in accordance with the preferred embodiments of the present invention are included in Within the scope of the patent application of the present invention. _ [Simple description of the drawing] Fig. 1 is an architectural diagram of the present invention. Figure 2 is a flow chart showing the steps of the present invention. FIG. 3 is a schematic diagram of a first embodiment of detecting a parking space in the present invention. Figure 4 is a schematic view showing a second embodiment of the parking space of the present invention. Figures 5(a) through 5(e) are schematic diagrams of the vehicle that superimposes the preset parking guide frame with the parking space. • [Main component symbol description] 10 parking guide 12 display screen 14 image sensor Μ vehicle speed sensor 18 distance sensor 20 speaker 22 processor 201223805 24 steering motor controller 26 current vehicle 28 first parking grid 30 parking vehicle 32 second parking compartment 34 third parking compartment 36 first parking vehicle 38 second parking vehicle 40 parking compartment 42 preset parking guidance frame 44 steering sensor
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