TW201421434A - Parking assistance system - Google Patents

Abstract

A parking assistance system adapted to be installed in a vehicle so as to guide a driver to park is provided. The parking assistance system assists the driver to drive the vehicle from a lane into a parking space along another lane where a first object and a second object are respectively located on two sides of the parking space. The parking assistance system comprises a detection module, a planning module, a correction module and a guide module. The design of returning a driving right to the driver of the present invention can improve security, and the correction module useful for correcting parking position errors caused by the operation of a driver is user-friendly and easy-to-use, thereby facilitating the parking operations of the driver.

Description

Parking assist system

The invention relates to a parking assist system, in particular to a parking assist system installed on a vehicle for guiding a driver to drive the driver into the parking space.

On-street parking is a challenge for novice or veteran driving. In terms of novice driving, the current training courses in Taiwan usually train roadside parking with squatting and aligning the target. However, there is no standard object on the real road, plus the novice driving for the steering wheel, throttle and so on. The operation is not familiar enough, and the distance between the vehicle and the obstacle next to the parking space cannot be accurately grasped by the rearview mirrors on both sides. Therefore, in the case of insufficient experience, it is often impossible to smoothly stop the vehicle in the parking space, and it is easy to cause Friction damage of the car body. In the case of veteran driving, in an unfamiliar parking environment or in a narrow lane, it may be necessary to perform multiple operations to complete the parking smoothly.

Therefore, in order to improve the aforementioned parking problem, many car dealers began to develop an automatic parking system to assist parking. For example, the invention patent of the Republic of China Patent No. I315271 provides a parking guidance device and a method thereof for intercepting an image of a parking space through an image detecting unit, and measuring a distance between the vehicle and an obstacle by using a distance detecting unit. Finally, through the central control unit to calculate the parking trajectory data, and automatically control the steering wheel, engine and brake system according to the parking trajectory data.

It can be seen that the common parking assistance systems are usually taken together. The camera captures the image for analysis to plan the parking route, and also needs to install an automatic operating mechanism such as a motor on the vehicle to control the rotation of the steering wheel. For this reason, the driver must leave his hands off the steering wheel and stop the vehicle through the automatic operating mechanism. Into the parking space.

However, the aforementioned additional installation of the photographic lens and the automatic operation mechanism may increase the product cost and result in an expensive price. Since the above-mentioned photographic lens is detected by using a plurality of angles taken by a plurality of angles, the images are overlapped and analyzed. The error is large. More importantly, during the automatic operation of the parking process, if someone or other object suddenly breaks into the parking path, the system may not be able to react immediately, so the safety is low.

Accordingly, it is an object of the present invention to provide a parking assist system that returns a right to operate to a driver with high safety.

Therefore, the parking assist system of the present invention is suitable for being installed on a vehicle to guide the driver to stop, so that the driver drives the vehicle from a lane into a parking space beside the lane, and any two of the parking spaces The side has a first object and a second object, respectively. The parking assistance system includes: a detection module, a planning module, a correction module, and a guiding module.

The detection module detects a distance between at least one of the first object and the second object relative to the vehicle, outputs a distance data, detects a moving distance of the vehicle, outputs a displacement data, and detects the vehicle. One of the steering angles of the steering wheel outputs a corner data. The planning module outputs a parking space data of a parking space according to the spacing data, the displacement data and a vehicle size data, and according to the spacing data, The displacement data, the parking space data and the vehicle size data are subjected to a parking path calculation to output a parking path data, and an operation instruction data for guiding the driver to operate the vehicle.

The correction module includes a vehicle position calculation unit, and the vehicle position calculation unit outputs a position error data according to the position data, the displacement data, the rotation angle data, and the parking path data, and drives the planning mode. The group corrects the operation instruction data according to the position error data and the parking path data. The guiding module outputs the operation instruction data.

The beneficial effect of the invention is that the design of returning the driving right to the driver can not only improve the safety, but also can correct the design of the position error caused by the driver's operation through the correction module, and is quite user-friendly and convenient to use. It makes it easy and convenient for drivers to complete the parking.

The above and other technical contents, features and advantages of the present invention will be apparent from the following detailed description of the preferred embodiments.

Referring to Figures 1 and 2, a preferred embodiment of the parking assist system of the present invention is adapted to be mounted on a vehicle 91 for parking guidance to a driver, wherein the parking assist system is activated and the driver is guided to drive the vehicle 91 from a lane. The process of completing the parking by entering the parking space 93 located beside the lane 92 is a parking guidance. The first implementation environment of the parking assist system will be described below.

In the first implementation environment, the parking space 93 is rectangular. With the vehicle The forward direction is forward, and the lane 92 is located on the long side of one of the left side of the parking space 93, and the first object 94 and the second object 95 are respectively located on the short side of the rear side of one of the parking spaces 93 and The short side of the front side. In practice, the lane 92 can also be located on the long side of one of the parking spaces 93, which is determined in accordance with national traffic laws, and is not limited herein. In addition, the first object 94 and the second object 95 may be walls or vehicles, which are not illustrated, and are merely illustrated in the drawings.

The parking assist system includes: a detecting module 1, a planning module 2, a correcting module 3, and a guiding module 4.

The detection module 1 of the present embodiment includes a displacement detecting unit 11, a plurality of spacing detecting units 12, and an angle detecting unit 13.

The displacement detecting unit 11 is configured to detect a moving distance of the vehicle 91 and output a displacement data, wherein the moving distance is converted by detecting the speed of the vehicle 91 and the time of traveling at the speed. The distance detecting unit 12 is mounted on the front side, the rear side, the left side and the right side of the vehicle 91 in groups, and each of the spacing detecting units 12 is configured to detect the first object 94 at each time point. A distance data is output from at least one of the second objects 95 relative to the distance of the vehicle 91. Wherein, each time point is detected once every second time, for example, according to requirements, and there is no need to limit here.

Of course, the distance detecting unit 12 can also be installed only on the right side of the vehicle 91 to achieve the improvement of the present invention. In practice, the equal-pitch detecting unit 12 is in the form of an ultrasonic sensor, an infrared sensor, or a microwave ranging sensor. The angle detecting unit 13 is configured to detect a steering angle of a steering wheel (not shown) of the vehicle 91 and output a corner data.

The planning module 2 of this embodiment includes a parking space calculation unit 21 and a path planning unit 22.

The parking space calculation unit 21 performs a parking space calculation based on the pitch data, the displacement data, and the vehicle size data of the pair of vehicles 91, and outputs a pair of parking space data of the parking space 93. Next, a parking stop determination is made based on the parking space data and the vehicle size data. If the parking space 93 is available for the vehicle 91 to be parked by the lane 92, the route planning unit 22 is driven to perform a parking path calculation.

The path planning unit 22 outputs a parking path data according to the spacing data, the displacement data, the parking space data and the vehicle size data, and outputs a parking path data, and cooperates with the parking path data to guide the driver to operate the vehicle 91. Operation instruction data, and an operation number data.

The parking path information includes an initial area within the lane 92, a final area within the parking space 93, and at least one intermediate area between the initial area and the final area. The operational command material includes an initial command to direct the driver to drive the vehicle 91 to the initial region, and at least one guidance command to guide the driver to drive the vehicle 91 from the initial region to the final region. The number of the instruction instructions is the operation number data, that is, the operation number data is the total number of the guidance instructions included in the operation instruction data during the process of guiding the driver to stop the vehicle 91 in the parking space 93.

Specifically, when the parking path data includes the initial area, the final area, and an intermediate area, the number of the guiding instructions of the operation instruction data is two. Where the first boot instruction is derived from the initial region Leading to the intermediate area, and the second booting instruction is directed to the final area by the intermediate area, so the number of operations is twice. Alternatively, when the parking path data includes the initial area, the final area, and the two intermediate areas, the number of the guiding instructions of the operation instruction data is three. Wherein, the first boot instruction is directed to the first intermediate area by the initial area, and the second boot instruction is guided by the first intermediate area to the second intermediate area, and the third boot instruction is The two mediation areas are directed to the final zone, so the number of operations is three times. By analogy, no more examples are given.

However, it should be noted that the parking path information is not necessary to include the intermediate area, that is, the parking path data may also include only the initial area and the final area. At this time, the operation instruction data includes only an initial instruction for guiding the driver to drive the vehicle 91 to the initial area, and a guiding instruction directly guided to the final area by the initial area, and the operation number data is once . Similarly, the operation instruction data is not necessary to include the initial instruction, and is implemented according to requirements, and is not limited thereto.

Further, although in the present embodiment, the number of the guidance instructions of the operation instruction material is defined as the number of times of the operation number of data. However, in practice, the two guiding instructions for the vehicle 91 to advance and retreat may be one of the operation times data, that is, the form of defining one of the operation times data is not limited to the example of the embodiment.

The correction module 3 of the embodiment includes a vehicle position calculation unit 31 and an inertia error unit 32.

The vehicle position calculating unit 31 can perform a position error calculation or an angle error a difference operation, and respectively calculating a vehicle position data according to the distance data, the displacement data and the corner data, and comparing the vehicle position data with the parking path data to calculate a position error data or an angle error data .

When the vehicle position calculating unit 31 outputs the position error data, the vehicle position calculating unit 31 drives the path planning unit 22 to correct the operation instruction data and the operation frequency data according to the position error data and the parking path data. . When the vehicle position calculation unit 31 outputs the angle error data, the vehicle position calculation unit 31 also drives the path planning unit 22 to correct the operation instruction data and the operation times according to the angle error data and the parking path data. data.

Then, the path planning unit 22 outputs the corrected operation instruction data according to the original parking path data when the corrected operation number data is less than a predetermined value. The path planning unit 22 recalculates and outputs a new parking path data according to the vehicle position data, the parking space data and the vehicle size data, and a new operation when the corrected operation frequency data is greater than the predetermined value. Instruction data and a new number of operations.

In addition, the vehicle position calculating unit 31 drives the path planning unit when the vehicle position data overlaps with the final area of the parking path data and the difference amount of the pitch data output by the equal-distance detecting unit 12 is less than a predetermined value. 22 Stop outputting the operation instruction data.

The inertia error unit 32 can output an operation error data according to the operation error calculation of the rotation angle data and the operation instruction data, and accumulate the same operation error data in a predetermined number of parking guidances, and When the foregoing number is greater than a predetermined value, an inertia operation correction data is output to the path planning unit 22. Wherein, the foregoing predetermined number of parking guidances may be implemented three consecutive times or five consecutive times of parking guidance. Therefore, during the next parking guidance, the path planning unit 22 performs the parking path calculation process, and the correction data is matched according to the spacing data, the displacement data, the parking space data, and the vehicle size data. The parking path calculation is performed.

The guiding module 4 of the embodiment includes an output unit 41 that can sequentially output the operation number data and the operation instruction data, and an input unit 42 for the driver to select and operate. After the output unit 41 outputs the operation number data, the driver inputs an acceptance command from the input unit 42 to drive the planning module 2 to output the operation instruction data from the output unit 41, or input a non-acceptance instruction. At this point, the driver continues to drive the vehicle 91 along the lane 92 to re-detect and calculate a new parking space. In addition, the input unit 42 is further configured to input a start command, and the displacement detecting unit 11 and the interval detecting unit 12 that drive the detecting module 1 detect the parking space 93, and the output unit 41 further A completion command can be output to inform the driver that the system has completed the parking guidance.

It is further noted that the guiding module 4 of the embodiment is in the form of a touch display, and outputs the operation frequency data and the operation instruction data for viewing by the driver in a graphic image manner, and the graphic image may be text. , image, animation, or a combination of these. Of course, in practice, the output unit 41 of the guiding module 4 can also be in the form of a speaker, and output the operation instruction data and the operation frequency data in a voice manner for driving. The driver listens, and the input unit 42 is in the form of a button or a keyboard or the like for the driver to operate. In addition, the output unit 41 of the guiding module 4 can also combine the voice and graphic images, so the output unit 41 and the input unit 42 form, and the parking assist system outputs the operation instruction data. The manner of the operation time data is not limited to the example of the embodiment.

Referring to Figures 1, 2, 3 and 4, corresponding to the parking assist system of the above preferred embodiment, the parking assist method of the present invention comprises the following steps:

Step S01: The parking assist system is activated, and the start command, that is, the START button shown in FIG. 4 is input to the input unit 42 of the boot module 4.

Step S02: detecting and calculating the parking space 93. The driver drives the vehicle 91 forward along the length of the lane 92. When the vehicle 91 is adjacent to the first object 94, the spacing detecting unit 12 mounted on the right side of the vehicle 91 detects the vehicle 91. The distance data from the first object 94. Then, when one of the pitch detecting units 12 does not detect the pitch data because the signal is not reflected, the parking space calculating unit 21 records that the current position of the space detecting unit 12 is the parking space 93. A rear side boundary 931.

Then, when one of the foregoing distance detecting units 12 detects the distance information between the vehicle 91 and the second object 95, the parking space calculating unit 21 records that the current position of the space detecting unit 12 is the parking space 93. Front side boundary 932. At the same time, the displacement detecting unit 11 detects the moving distance of the vehicle 91 during the process from the rear side boundary 931 to the front side boundary 932, and outputs the displacement data, wherein the front side boundary 932 and the rear side boundary 931 The distance is the parking space length d1 of one of the parking spaces 93.

Finally, when the vehicle 91 is adjacent to the second object 95, and the distance detecting unit 12 installed on the right side of the vehicle 91 detects the distance information between the vehicle 91 and the second object 95, the parking space calculation unit 21, according to the measured distance data and the displacement data for parking space calculation, and output the parking space data.

Step S03: determining whether parking is possible, based on the parking space data and the vehicle size data, determining whether the parking space 93 can be used for the vehicle 91 to enter for parking. When the vehicle 91 cannot be parked in the parking space 93 from the lane 92, for example, the parking space length d1 is too short, etc., it is determined that parking is impossible, and the process returns to step S02 to re-detect and calculate the parking space 93. When the vehicle 91 can be parked in the parking space 93 from the lane 92, it is determined that the parking is possible, and the route planning unit 22 is driven to perform the parking path calculation, and the process proceeds to step S04.

Step S04: Perform a parking path operation, and output the operation frequency data. The path planning unit 22 performs a parking path calculation based on the distance data, the displacement data, the parking space data, and the vehicle size data, and outputs the parking path data, the operation instruction data, and the operation frequency data. It should be noted that when the path planning unit 22 performs the parking path calculation, in addition to considering the smoothness of the driver's operation, it is of course considered that the vehicle body length and the vehicle body width in the vehicle size data are calculated to avoid the The vehicle 91 collides with and collides with the first object 94 or the second object 95.

Then, the operation unit 41 of the guiding module 4 outputs the operation frequency data for the driver to watch, so as to inform the driver to stop the vehicle 91 in the parking space 93, the guiding instruction included in the operation instruction data. of total.

For example, as shown in Figure 4, the parking path data includes an initial area 81, a final area 82, and two intermediate areas 83, 83'. Then, the number of boot instructions of the operation instruction material is three, that is, the first boot instruction is guided by the initial area 81 to the first intermediate area 83, and the second boot instruction is guided by the first intermediate area 83. To the second intermediation area 83', and the third boot instruction is directed to the final area 82 by the second intermediation area 83'. Therefore, the operation number data is three times, and the output unit 41 of the guidance module 4 outputs the character to be operated three times.

It should be noted that, in the previous parking guidance, when the inertia error unit 32 has output the inertia operation correction data to the path planning unit 22, when the path planning unit 22 performs the parking path calculation, The spacing data, the displacement data, the parking space data, and the vehicle size data are combined with the inertia operation correction data to perform a parking path calculation.

Specifically, the operation instruction data output by the path planning unit 22 when the parking path calculation is performed according to the distance data, the displacement data, the parking space data, and the vehicle size data is performed according to the inertia operation correction data. Corrected. For example, when the user always turns a quarter turn less when operating the steering wheel, the aforementioned insufficient number of turns is added to the boot command to compensate. For example, the original operation command is the reverse gear, and the steering wheel turns left. After the correction of the correction data of the inertia operation is performed, the operation command output is the reverse gear, and the steering wheel is turned left and one eighth and one turn.

Step S05: Whether to accept. Referring to Figures 1, 3 and 4, the driver can The operation number data output by the output unit 41 selects whether or not to accept the current parking path calculation. When the driver thinks that the number of operations is too many and does not accept the calculation result, the driver can input a non-acceptance instruction, that is, the NO key shown in FIG. 4, by the input unit 42 of the guidance module 4, and return to step S02, The driver continues to drive the vehicle 91 along the lane 92 to re-detect and calculate a new parking space.

When the driver can accept the calculation result, the driver can input an acceptance command, that is, the OK button shown in FIG. 4, by the input unit 42, and drive the planning module 2 to output the operation instruction data from the output unit 41.

It should be noted that, if the driver inputs the acceptance command by the input unit 42, the vehicle position data has overlapped with the initial area 81, and step S06 can be directly performed to guide the driver to move the vehicle 91 from the initial area 81 toward the initial area 81. This final area 82 travels. If the driver inputs the acceptance command from the input unit 42, and the vehicle position data does not overlap with the initial region 81, the initial command is output to guide the driver to drive the vehicle 91 to the initial region 81 to make the vehicle The location data overlaps the initial area 81 to perform the parking guidance of step S06. The aforementioned initial instructions are, for example, a reverse gear, and the steering wheel is straightened.

The output unit 41 outputs the initial command, which may be in the form of an image as shown in FIG. 4, and may of course be in the form of simple text. It should be noted that the image output by the output unit 41 in FIG. 4 is for illustrative purposes only. Of course, various different image images or patterns may be used in the implementation, and are not limited to the examples of the embodiment.

Step S06: Output an instruction. The operation finger is output by the output unit 41 A guide command is made to direct the driver to drive the vehicle 91 from the initial area 81 to the final area 82.

First, the first guiding command is outputted by the guiding module 4 to guide the driver to drive the vehicle 91 from the initial area 81 to the first intermediate area 83. The first guiding command is, for example, a reverse gear, and the steering wheel is turned right one turn.

Step S07: Determine whether the offset is. Referring to Figures 1, 3, and 5, after outputting the first boot command, it is determined whether the position of the vehicle 91 and the parking path data are positionally offset or angularly offset. When the vehicle position calculation unit 31 performs the position error calculation, based on the displacement data and the corner data, it can be known that one of the vehicles 91 moves the distance d2 and outputs the vehicle position data, and the vehicle position data is The parking path data is compared, and the position deviation value d3 of the position of the vehicle 91 and the parking path is calculated, and the position error data is output.

If the position error data is greater than a predetermined value, it is determined that there is a positional shift and step S08 is performed. For example, the predetermined value is 30 cm, and when the position error data is 20 cm, it is determined that there is no positional deviation, and when the position error data is 40 cm, it is determined that there is a positional deviation.

Referring to Figures 1, 3 and 6, if the position error data is less than a predetermined value, it is determined that there is no positional deviation, and the vehicle position calculating unit 31 performs an angular error calculation, and the aforementioned vehicle position data and the parking. The path data is again compared. First, the intersection of the long-distance central axis 911 and the parking path data is calculated, and then the tangent line 84 of the parking path data at the intersection is calculated, and finally the long-direction central axis 911 is calculated. Tangent 84 An angle α between the vehicle 91 and the parking path is calculated, and the angular error data is output.

When the angle error data is greater than a predetermined value, it is determined that there is an angular offset and step S08 is performed. When the angle error data is less than a predetermined value, it is determined that there is no angular offset, and step S10 is performed. For example, the aforementioned predetermined value is 30 degrees, and when the angle error data is 20 degrees, the angleless offset is determined, and when the angle error data is 40 degrees, the angular offset is determined.

Step S08: It is judged whether the offset can be corrected. When the position error data is greater than a predetermined value and is determined to have a positional offset, the vehicle position calculating unit 31 drives the path planning unit 22 to correct the operation instruction data according to the position error data and the original parking path data. The number of operations. Alternatively, when the angle error data is greater than a predetermined value and is determined to have an angular offset, the vehicle position calculating unit 31 also drives the path planning unit 22 to correct the operation according to the angle error data and the original parking path data. Instruction data and the number of times of operation.

Next, the path planning unit 22 makes a determination based on the corrected number of operation times. When the corrected operation number data is less than a predetermined value, it indicates that the offset caused by the operation has little effect, and the parking operation is not added by adding an excessive operation instruction, and the offset is corrected, and step S06 is performed. The corrected operation instruction data is output to continue to guide the parking. When the corrected operation count data is larger than the predetermined value, it indicates that the offset caused by the operation has a large influence, and if an excessive operation command is additionally added to complete the stop, it is determined that the offset is not correctable, and step S09 is performed. For example, the aforementioned predetermined value is ten times, and when the corrected operation number is ten Five times, it is determined that the offset is uncorrectable, and when the corrected number of operations is five times, it is determined to be correctable.

It should be noted that, in this embodiment, the operation frequency data is output in step S05, so that the driver can refer to whether to accept the current parking path calculation, but the corrected operation frequency data mentioned in step S08 is only for the purpose. The path planning unit 22 determines whether the offset can be corrected, so the output unit 41 does not output the corrected operation number data to the driver's reference.

Step S09: Perform the parking path calculation again. The path planning unit 22 re-calculates the parking path according to the vehicle location data, the parking space data and the vehicle size data, and outputs a new parking path data, a new operation instruction data, and a new operation frequency data. And returning to step S06, the output unit 41 outputs a new instruction command of the operation instruction data to guide the driver to stop in accordance with the new parking path data. When the path planning unit 22 performs the parking path calculation again, the vehicle body length and the vehicle body width in the vehicle size data are still calculated to avoid the vehicle 91 and the first object 94 or the second object. 95 Collision, collision.

Step S10: It is judged whether or not the parking is completed. Referring to 1, 3, and 7, when the operation indicated by the current guidance command is completed, and the position of the vehicle 91 and the parking path are not displaced or angularly displaced, it is determined whether the parking is completed. The vehicle position calculating unit 31 first determines whether the vehicle position data overlaps with the final area 82 of the parking path data. When the vehicle location data does not overlap with the final region 82, it is determined that the vehicle 91 has not reached the final region 82, and returns to step S06 to continue guiding the driver to the vehicle 91 toward the The final area 82 travels.

For example, after the driver drives the vehicle 91 from the initial area 81 to the first intermediate area 83 according to the first guiding instruction, since the vehicle position data does not overlap with the final area 82, the process returns to step S06. Operation, the output unit 41 continues to output a second guide command to direct the driver to drive the vehicle 91 from the first intermediate area 83 to the second intermediate area 83'. By analogy, until the vehicle location data overlaps the final region 82, it is determined that the vehicle 91 has reached the final region 82.

Then, the vehicle position calculating unit 31 determines whether the angle of the vehicle 91 is square according to the pitch data output by the equal-pitch detecting unit 12. When the difference amount of the pitch data outputted by the equal-pitch detecting unit 12 mounted on the rear side of the vehicle 91 is greater than a predetermined value, it is determined that the vehicle 91 has not been squared, and the process returns to step S06 to continue guiding the driver. When the aforementioned difference amount is less than a predetermined value, it is determined that the vehicle 91 has been squared, and step S11 is performed. For example, the predetermined value is 30 cm, and when the difference amount of the pitch data is 45 cm, it is determined that the square is not yet squared, and when the difference amount of the pitch data is 15 cm, it is determined that it has been squared.

It should be noted that, in practice, when the vehicle position data overlaps with the final region 82, that is, it is determined that the parking is completed and the process proceeds to step S11, the vehicle 91 is not required to complete the determination of the parking.

Step S11: The parking is completed. The vehicle position calculating unit 31 drives the path planning unit 22 to stop outputting the operation instruction data, and at the same time, the output unit 41 outputs a completion command to inform the driver that the system has completed the parking guidance. The completion command, for example, completes the parking. Wherein the completion instruction example The text of the parking is completed as shown in FIG. 7, but the implementation is not limited thereto.

Referring to Figures 1, 3 and 8, the second implementation environment of the parking assistance system differs from the first implementation environment in that the first object 94 is located on the rear side of one of the parking spaces 93. The short side, the lane 92 and the second object 95 are respectively located on the long side of one of the left side of the parking space 93 and the long side of the right side.

Therefore, in step S02: detecting and calculating the parking space 93, the driver drives the vehicle 91 forward along the length direction of the lane 92. When the vehicle 91 is adjacent to the first object 94, the spacing detecting unit 12 mounted on the right side of the vehicle 91 detects the distance information between the vehicle 91 and the first object 94, respectively. Then, when one of the foregoing distance detecting units 12 detects the distance information between the vehicle 91 and the second object 95, the parking space calculating unit 21 determines that the current position of the space detecting unit 12 is the parking space 93. The back side border 931.

Then, the vehicle 91 continues to travel forward. When the displacement data outputted by the displacement detecting unit 11 reaches a predetermined length value d4, the parking space calculating unit 21 adds the rear side boundary 931 along the forward direction of the vehicle 91. The position of the predetermined length value d4 is the front side boundary 932 of the parking space 93, and the parking space calculation is performed according to the equal distance data and the predetermined length value d4, and the parking space data is output.

Referring to Figures 1, 3 and 9, the third implementation environment of the parking assist system differs from the first implementation environment in that, in the third implementation environment, for example, a narrow lane, there is a first side of the lane 92. The three objects 96, that is, the parking space 93 and the third object 96 are located on opposite sides of the lane 92, respectively. and Each of the spacing detecting units 12 can detect the distance of at least one of the first object 94, the second object 95 and the third object 96 relative to the vehicle 91 at each time point, and output the spacing data.

Therefore, in step S02: detecting and calculating the parking space 93, the driver drives the vehicle 91 forward along the length direction of the lane 92, and moves to the vicinity of the vehicle 91 from the position adjacent to the first object 94. During the position of the second object 95, the spacing detecting unit 12 mounted on the right side of the vehicle 91 detects the distance information between the first object 94 and the vehicle 91 to define the rear side boundary 931 of the parking space 93. And detecting the distance information of the second object 95 of the vehicle 91 to define a front side boundary 932 of the parking space 93, and the spacing detecting unit 12 mounted on the left side of the vehicle 91 detects the third object 96 and the A lane boundary 921 is defined by the pitch data of the vehicle 91. The parking space calculation unit 21 performs a parking space calculation based on the equal distance data and the displacement data, and outputs the parking space data.

Step S04: The path planning unit 22 performs a parking path calculation based on the spacing data, the displacement data, the parking space data, and the vehicle size data, and outputs the parking path data, the operation instruction data, and the operation frequency data. Similarly, when the path planning unit 22 performs the parking path calculation, the vehicle body length and the vehicle body width in the vehicle size data are calculated to avoid the first object 94, the second object 95, or the third object. At least one of 93 collides with the vehicle 91 and collides.

It can be seen from the above description that the present invention detects the relative relationship between the parking environment and the vehicle 91 through the equal interval detecting unit 12, compared to the high error caused by the general parking assistance system capturing images through the photographic lens. The relationship is not only relatively accurate but also saves the cost of adding a photographic lens and reduces costs.

Therefore, the present invention cooperates with the guiding module 4 through the detecting module 1, and the planning module 2, and outputs suitable operation suggestions one by one according to the planned parking path data, so as to provide the driver with reference, so the driver does not It is necessary to observe and grasp the distance between the vehicle 91 and the environment by itself, thereby reducing the trouble of driving the novice in operation. In addition, the present invention can also provide operational assistance in a narrow lane to avoid inadvertently causing wear of the vehicle body of the vehicle 91 during parking.

The design of returning the driving right to the driver also saves the cost of installing the automatic operating mechanism, and when a person or other object suddenly breaks into the parking path, the driver can immediately brake the vehicle to stop the vehicle. Therefore, danger can be avoided and safety is high.

More importantly, the present invention outputs the operation number data for driving before the guide command is output to guide the parking, and the driver's reference and selection are accepted. In addition, since the driver inevitably generates an error when driving the vehicle 91 according to the guiding instruction, the present invention can instantly correct the position error caused by the driver's operation in the current parking guidance. If the driver has the habit of turning too much or turning too little while operating the steering wheel during several consecutive parking guidances, the present invention can also correct the inertial operation error of the aforementioned driver. The above humanized design makes the invention more convenient to use in addition to the advantages of high safety, low price and low error, so the driver can complete the parking simply and conveniently, and can indeed achieve the improvement of the invention. The purpose.

However, the above is only the preferred embodiment of the present invention, when not The scope of the invention is to be construed as being limited by the scope of the invention and the scope of the invention.

1‧‧‧Detection module

11‧‧‧Displacement detection unit

12‧‧‧pitch detection unit

13‧‧‧Angle detection unit

2‧‧‧ planning module

21‧‧‧Parking Space Calculation Unit

22‧‧‧Path Planning Unit

3‧‧‧Correction module

31‧‧‧ Vehicle Position Calculation Unit

32‧‧‧Inertial error unit

4‧‧‧Guide Module

41‧‧‧Output unit

42‧‧‧Input unit

81‧‧‧Initial area

82‧‧‧ final area

83, 83’‧‧‧Intermediate area

84‧‧‧ Tangent

91‧‧‧ Vehicles

911 ‧ ‧ long axis

92‧‧" lane

921‧‧‧ Lane boundary

93‧‧‧Parking space

931‧‧‧ Back border

932‧‧‧ front border

94‧‧‧First object

95‧‧‧Second object

96‧‧‧ Third object

D1‧‧‧ parking space length

D2‧‧‧ current moving distance

D3‧‧‧ position deviation value

D4‧‧‧predetermined length value

S01~S11‧‧‧Steps

‧‧‧‧ angle

1 is a functional block diagram of a preferred embodiment of the parking assist system of the present invention; FIG. 2 is a schematic view of a state of use, illustrating a first embodiment of the preferred embodiment for guiding parking; FIG. 3 is a flow block FIG. 4 is a flow chart showing the steps of the preferred embodiment in the lead-stop process; FIG. 5 is a flow chart illustrating the preferred embodiment. FIG. 6 is a schematic flow chart showing the state of the preferred embodiment in the case of angular displacement during the guiding and stopping process; FIG. 7 is a schematic flow chart showing the preferred state. The embodiment is in the latter stage of the guided parking process; FIG. 8 is a schematic view of the use state, illustrating a second embodiment of the preferred embodiment for guiding parking; and FIG. 9 is a schematic view of the use state, illustrating the preferred embodiment. One of the third implementation environments for guiding parking.

1‧‧‧Detection module

11‧‧‧Displacement detection unit

12‧‧‧pitch detection unit

13‧‧‧Angle detection unit

2‧‧‧ planning module

21‧‧‧Parking Space Calculation Unit

22‧‧‧Path Planning Unit

3‧‧‧Correction module

31‧‧‧ Vehicle Position Calculation Unit

32‧‧‧Inertial error unit

4‧‧‧Guide Module

41‧‧‧Output unit

42‧‧‧Input unit

Claims (21)

A parking assist system is suitable for being installed on a vehicle to guide the driver to stop, so that the driver drives the vehicle from a lane into a parking space beside the lane, and each side of the parking space has a parking space a first object and a second object, and the parking assist system includes: a detecting module that detects a distance between at least one of the first object and the second object relative to the vehicle and outputs a spacing data, and detects Measuring a moving distance of the vehicle to output a displacement data, and detecting a steering angle of the steering wheel of the vehicle to output a corner data; a planning module, performing parking spaces according to the spacing data, the displacement data, and a vehicle size data Calculating and outputting a pair of parking space data of the parking space, and outputting a parking path data according to the spacing data, the displacement data, the parking space data and the vehicle size data for parking path calculation, and guiding the driver to operate the Operating instruction data of the vehicle; a correction module comprising a vehicle position calculating unit, the vehicle position calculating unit according to the spacing And calculating, by the displacement data, the corner data and the parking path data, a position error data, and driving the planning module to correct the operation instruction data according to the position error data and the parking path data; and The boot module outputs the operation instruction data. The parking assistance system according to claim 1, wherein the parking path information includes an initial area located in the lane, and a final area located in the parking space, and the operation instruction data includes At least one guiding instruction that guides the driver to drive the vehicle from the initial area to the final area. The parking assistance system of claim 2, wherein the parking path data further comprises at least one intermediate area between the initial area and the final area. The parking assistance system according to claim 2, wherein the operation instruction data further comprises an initial instruction for guiding the driver to drive the vehicle to the initial area. According to the parking assist system described in claim 2, wherein the planning module performs a parking path calculation, and may output a command data guide in the process of guiding the driver to stop the vehicle in the parking space. The operation module includes a total number of operation instructions, and the instruction module includes an output unit that sequentially outputs the operation number data and the operation instruction data, and an input unit that can be selected by the driver, and outputs the output unit. After the operation time data, the driver can input an acceptance command by the input unit to drive the planning module to output the operation instruction data from the output unit. The parking assist system according to claim 5, wherein the vehicle position calculating unit performs a position error calculation, and outputs a vehicle position data based on the distance data, the displacement data, and the corner data, and the vehicle is The position data is compared with the parking path data, and the position error data is calculated. The parking assistance system according to claim 6, wherein the planning module includes performing a parking path operation to output the parking path The data, the operation instruction data, and the path planning unit of the operation frequency data, the path planning unit corrects the operation instruction data and the operation frequency data according to the position error data and the parking path data, and after the correction When the operation number data is less than a predetermined value, the corrected operation instruction data is output according to the original parking path data, and when the corrected operation number data is greater than the predetermined value, according to the vehicle position data, the parking space data and The vehicle size data is re-executed for the parking path, and a new parking path data, a new operation instruction data, and a new operation number data are output. According to the parking assistance system of claim 5, the vehicle position calculation unit may perform an angle error calculation, and after calculating and outputting a vehicle position data according to the distance data, the displacement data, and the rotation angle data, The vehicle location data is compared with the parking path data, and an angular error data is calculated. The parking assistance system according to claim 8 , wherein the planning module includes a path planning unit that performs a parking path operation and outputs the parking path data, the operation instruction data, and the operation number data, and the path planning unit The planning unit corrects the operation instruction data and the operation frequency data according to the angle error data and the parking path data, and outputs the corrected data according to the original parking path data when the corrected operation frequency data is less than a predetermined value. Operating the instruction data, and when the corrected operation number data is greater than the predetermined value, re-calculating the parking path according to the vehicle position data, the parking space data and the vehicle size data, and outputting a new parking path data, a new operating instruction Information and a new number of operations. The parking assist system according to the seventh or the ninth aspect of the invention, wherein the correction module further comprises an inertia error unit, wherein the inertia error unit can perform an operation error calculation according to the rotation angle data and the operation instruction data. Outputting an operation error data, and accumulating the same number of operational error data in a predetermined number of parking guidances, and outputting an inertial operation correction data to the path planning unit when the number is greater than a predetermined value, the path gauge The next time the parking unit performs the parking path calculation, the parking path calculation is performed based on the spacing data, the displacement data, the parking space data, and the vehicle size data in conjunction with the inertia operation correction data. The parking assistance system according to claim 10, wherein the vehicle position calculating unit drives the route planning unit to stop outputting the operation instruction data when the vehicle position data overlaps with the final region of the parking path data. The parking assistance system according to claim 10, wherein the planning module further comprises a parking space calculation unit that performs parking space calculation and outputs the parking space data, and the parking space calculation unit is configured according to the distance information. After the displacement data is calculated by the parking space and the parking space data is output, the parking space data is determined according to the parking space data and the vehicle size data. If the parking space is available for the vehicle to be parked by the lane, the path planning is driven. The unit performs a parking path calculation. The parking assistance system according to claim 12, wherein the detection module includes a moving distance for detecting the vehicle and outputting the a displacement detecting unit for the displacement data, and an angle detecting unit for detecting the steering angle of the steering wheel of the vehicle and outputting the corner data. The parking assist system of claim 13 , wherein the detecting module further comprises a plurality of sides mounted on one side of the vehicle and respectively detecting at least one of the first object and the second object a distance detecting unit of the distance of the vehicle, wherein the vehicle position calculating unit drives the path when the vehicle position data overlaps with the final area, and the difference amount of the spacing data output by the equal spacing detecting unit is less than a predetermined value The planning unit stops outputting the operation instruction data. According to the parking assistance system described in claim 14, the parking space is rectangular, the lane is located on one of the long sides of the parking space, and the first object and the second object are respectively located in the parking space. a side, wherein the parking space calculation unit is configured to detect the first object and the same according to the position of the vehicle moving from a position adjacent to the first object to a position adjacent to the second object The parking space calculation is performed on the distance data output by the distance of the second object from the vehicle and the displacement data output by the displacement detecting unit detecting the moving distance of the vehicle. According to the parking assistance system of claim 14, the parking space is rectangular, the first object is located on one short side of the parking space, and the lane and the second object are respectively located at the parking space. a side, wherein the parking space calculation unit is configured to move forward along the lane according to the vehicle traveling through the first object, and when the displacement data output by the displacement detecting unit reaches a predetermined length value, The predetermined length value is combined with the interval detecting unit to detect the first object in the foregoing process. The parking space calculation is performed on the distance data output from the distance of the second object with respect to the vehicle. According to the parking assistance system of claim 13, the third side of the lane has a third object, and the parking space and the third object are respectively located on opposite sides of the lane, wherein the detecting module The device further includes a plurality of spacing detecting units mounted around the vehicle, wherein the spacing detecting units are respectively configured to detect at least one of the first object, the second object, and the third object relative to the vehicle Distance, and output the spacing data. The parking assist system according to claim 14, wherein the equal-distance detecting unit is in the form of an ultrasonic sensor, an infrared sensor or a microwave ranging sensor. The parking assist system according to claim 17, wherein the equal-distance detecting unit is in the form of an ultrasonic sensor, an infrared sensor or a microwave ranging sensor. The parking assistance system according to claim 5, wherein the input unit is further configured to input a start command to drive the detection module to detect the parking space. The parking assistance system according to claim 5, wherein the output unit outputs the operation number data and the operation instruction data in a graphic image for the driver to view, or outputs the operation in a voice manner. The command data and the number of operations are provided for the driver to listen to.