TWI769833B - Parking aid system - Google Patents

Abstract

A parking aid system includes a range unit for detecting a parking space to obtain spatial information of the parking space. A parking assist module for tracking a parking path through a trajectory tracking algorithm to generate a plurality of turning curvature sequentially. A processor unit receives a parking signal from a vehicle and converts each of the turning curvature to a steering angle of the vehicle when the parking space has enough space for parking the vehicle. The processor unit controls the rotation of the steering wheel of the vehicle so that the rotation amplitude of the steering wheel is correspond to the plurality of steering angle sequentially to drive the vehicle into the parking space.

Description

Parking assist system

The present invention relates to a vehicle auxiliary system, in particular to a parking assistance system for guiding a vehicle into a parking space.

For many drivers, whether it is reversing into the garage or parking on the road, because the accelerator pedal, brake pedal and steering wheel must be controlled at the same time, how to quickly and accurately park the vehicle into the parking space, for parking It is a big test for unskilled drivers. Even, it is often seen that many drivers find a parking space on the side of the road, but because of their lack of driving experience, they cannot judge whether the vehicle can be parked in the parking space, and even after moving the vehicle back and forth many times, they are still unable to park the vehicle. The vehicle is parked in the parking space.

However, in the process of moving the vehicle, the driver may not be able to park the vehicle smoothly in the parking space due to insufficient or excessive rotation of the steering wheel, or poor timing of controlling the steering wheel to turn and return to alignment. Inside.

In view of this, it is indeed necessary to provide a parking assist system to solve the above problems.

In order to solve the above-mentioned problems, the purpose of the present invention is to provide a parking assistance system, which can be used to guide a vehicle into a parking space.

Another object of the present invention is to provide a parking assistance system, which can analyze the change in the spatial information of the parking space during the parking process, and re-plan the secondary parking path for the vehicle to enter according to the secondary parking path. the parking space.

Another object of the present invention is to provide a parking assistance system, which can calculate the cost of driving the vehicle into the parking space according to the secondary parking path when the spatial information of the parking space is changed during the parking process. time, and notify the driver of the vehicle for the driver to decide whether to drive the vehicle into the parking space anyway.

The directionality or similar terms used throughout the present disclosure, such as "front", "back", "left", "right", "top (top)", "bottom (bottom)", "inside", "outside" , "side surface", etc., mainly refer to the directions of the attached drawings, each directionality or its similar terms are only used to assist the description and understanding of the various embodiments of the present invention, and are not intended to limit the present invention.

The use of the quantifier "a" or "an" for the elements and components described throughout the present invention is only for convenience and provides a general meaning of the scope of the present invention; in the present invention, it should be construed as including one or at least one, and a single The concept of also includes the plural case unless it is obvious that it means otherwise.

The "microcontroller or processor unit" mentioned in the whole of the present invention refers to any electronic chip with functions of data storage, calculation and signal generation, or an electronic device having the electronic chip. For example, the electronic chip can be a central processing unit (CPU), a microcontroller (MCU), a digital signal processor (DSP), a field programmable logic gate array (FPGA), or a system-on-chip (SoC); the The electronic device can be a Programmable Logic Controller (PLC) or Arduino UNO, which can be selected by those with ordinary knowledge in the art based on computing performance, price, volume constraints or functional requirements.

A parking assistance system of the present invention includes: a ranging unit for installation in a vehicle, the ranging unit is used for detecting the direction of a parking space to obtain a spatial information of the parking space; a parking assistance module for being installed on the vehicle, the parking assistance module is used for tracking a parking path through a trajectory tracking algorithm to sequentially generate a plurality of gyration curvatures, and the parking path is used for the vehicle A guide path for driving into the parking space; and a processor unit for being installed in the vehicle and coupled to the ranging unit and the parking assist module, the processor unit controls the parking signal when receiving a parking signal The ranging unit operates and judges the obtained spatial information and a body data of the vehicle to judge whether the parking space has enough space for parking the vehicle. If the judgment result is yes, the processor unit controls the parking The auxiliary module operates to obtain the plurality of gyration curvatures and convert each of the gyration curvatures into a steering angle of the vehicle, the processor unit generates and sends a turn signal including the steering angles to a turn signal of the vehicle an on-board computer, enabling the on-board computer to control the rotation of the steering wheel of the vehicle, and making the rotation range of the steering wheel conform to the several steering angles in sequence, so as to drive the vehicle into the parking space; the processor unit receives the parking signal , and the vehicle is in the process of entering the parking space, the vehicle is located at a first fixed point position, if another vehicle is parked behind the parking space, the processor unit obtains the other vehicle according to the distance measuring unit. Several first relative coordinates of a vehicle relative to the vehicle, when the vehicle continues to drive into the parking space according to the parking path, so that the vehicle is located at a second fixed point position, the second fixed point position is based on the first fixed point The point position and the moving distance of the vehicle are obtained, the processor unit obtains a plurality of second relative coordinates of the other vehicle relative to the vehicle according to the ranging unit, and compares the plurality of second relative coordinates with the plurality of first relative coordinates A relative coordinate is compared with each other to evaluate whether the other vehicle is moving toward the parking space or retreating away from the parking space, and the processor unit updates the spatial information of the parking space according to the plurality of second relative coordinates , and determine whether the updated spatial information has enough space for parking the vehicle. If the determination result is yes, then further confirm whether the vehicle can enter the parking space along the original parking path. If the confirmation result is no, then The processor unit generates and sends a departure signal to the in-vehicle computer, so that the in-vehicle computer controls the vehicle to move out of the parking space, and controls the parking assistance module to calculate according to the updated spatial information to re-plan to generate one or two the secondary parking path, and control the on-board computer to control the vehicle according to the secondary parking path drive into the parking space.

Another parking assistance system of the present invention includes: a ranging unit for installation in a vehicle, the ranging unit is used for detecting the direction of a parking space to obtain a spatial information of the parking space; a parking assistance a module for being installed on the vehicle, the parking assistance module is used for tracking a parking path through a trajectory tracking algorithm to sequentially generate a plurality of turning curvatures, the parking path is for the vehicle to drive into the a guidance path of a parking space; and a processor unit for being installed in the vehicle and coupled to the ranging unit and the parking assist module, the processor unit controls the ranging unit when receiving a parking signal It operates and judges the obtained spatial information and a body data of the vehicle to judge whether the parking space has enough space for parking the vehicle. If the judgment result is yes, the processor unit controls the parking assist module operate to obtain the plurality of gyration curvatures and convert each of the gyration curvatures into a steering angle of the vehicle, the processor unit generates and sends a turn signal including the plurality of steering angles to an on-board computer of the vehicle, Make the on-board computer control the rotation of the steering wheel of the vehicle, and make the rotation amplitude of the steering wheel conform to the steering angles in sequence, so as to drive the vehicle into the parking space; when the vehicle is ready to drive into the parking space according to the parking path The processor unit detects whether there is an obstacle in the parking space through the ranging unit, and starts timing when the obstacle is detected to generate a waiting time, and the processor unit calculates the waiting time Whether it exceeds a time threshold, if the calculation result is yes, send a departure signal to the on-board computer, so that the on-board computer controls the vehicle to drive away from the current position.

Accordingly, the parking assistance system of the present invention can track a parking path through the parking assistance module to generate several turning curvatures, and the processor unit sends a turn signal to the vehicle when receiving a parking signal the on-board computer, so that the on-board computer controls the rotation of the steering wheel of the vehicle, so that the rotation amplitude of the steering wheel conforms to the several gyration curvatures in sequence, so as to control the vehicle to automatically drive into the parking space. Moreover, the distance measurement of the present invention The unit, the parking assist module and the processor unit can all be devices that the vehicle itself has, and no additional configuration is required. In this way, the parking of the present invention The auxiliary system has the effect of improving the convenience of parking and reducing the cost of the vehicle. In addition, the parking assist system of the present invention has the effect of determining whether the vehicle behind the parking space is moving toward the parking space or retreating away from the parking space during the process of the vehicle entering the parking space. . In addition, the processor unit calculates the judgment of the waiting time, which can avoid the effect of the driver spending too much time waiting for the obstacle to leave.

Wherein, the processor unit sequentially connects the plurality of first relative coordinates to form a first virtual front line, and sequentially connects the plurality of second relative coordinates to form a second virtual front line, the The processor unit analyzes the first virtual line and the second virtual line. If the first virtual line is closer to the parking space, it means that the other vehicle is moving backwards away from the parking space. If the second virtual line in front of the vehicle is closer to the direction of the parking space, it means that the other vehicle is heading toward the parking space. In this way, the system has the effect of judging whether the vehicle behind the parking space is moving toward the parking space or retreating away from the parking space.

Wherein, when the waiting time does not exceed the time threshold, the processor unit detects and obtains the size and position of the obstacle through the ranging unit, and estimates whether the size of the obstacle meets a restriction condition, if the estimation result is Yes, then the processor unit controls the parking assist module to re-plan and generate a secondary parking path according to the spatial information and the size and position of the obstacle, and the processor unit controls the on-board computer to control the vehicle according to the The secondary parking path drives into the parking space. In this way, the vehicle can avoid the obstacle in the parking space according to the secondary parking path, and drive the vehicle into the parking space, which has the function of automatically avoiding the obstacle.

Wherein, the restriction condition is that the radial length of the obstacle relative to the width dimension of the parking space must be less than 1/3 of the width of the vehicle body, and the position of the obstacle is located at a distance of the parking space away from the vehicle. side. In this way, the vehicle can be stopped in the parking space under the premise that the vehicle does not exceed the range of the parking space too much.

Wherein, when the processor unit controls the parking assist module to re-plan to generate the two When the secondary parking path is used, the processor unit estimates the time it takes for the vehicle to enter the parking space according to the secondary parking path to generate a parking time, and the processor unit controls the parking assistance module to issue a notification A signal to inform the driver of the vehicle that the estimated time for the vehicle to stop into the parking space is the parking time. In this way, the system has the effect of providing the driver with an assessment of whether to drive directly away from the current position, or to spend the parking time waiting for the vehicle to drive into the parking space.

〔this invention〕

1: Ranging unit

2: Parking assistance module

3: Processor unit

B: Obstacle

C1,C2: Vehicles

L1: The first fixed point position

L2: The second fixed point position

P: parking space

R1: The first relative coordinate

R2: The second relative coordinate

V1: The first virtual line

V2: virtual line of the second front

[FIG. 1] A system block diagram of a preferred embodiment of the present invention.

[FIG. 2] A state diagram of a vehicle entering a parking space according to the parking path according to a preferred embodiment of the present invention.

[FIG. 3] A schematic diagram of a state in which a vehicle behind the parking space moves toward the parking space according to a preferred embodiment of the present invention.

[FIG. 4] A schematic diagram of the state of re-planning the secondary parking path of the parking assistance module according to a preferred embodiment of the present invention.

[FIG. 5] A schematic diagram of a state in which a vehicle is parked in the parking space with the obstacle according to a preferred embodiment of the present invention.

In order to make the above-mentioned and other objects, features and advantages of the present invention more obvious and easy to understand, the preferred embodiments of the present invention are exemplified below, and are described in detail as follows in conjunction with the accompanying drawings: please refer to Figure 1, It is a preferred embodiment of the parking assistance system of the present invention, and includes a ranging unit 1 , a parking assistance module 2 and a processor unit 3 , and the ranging unit 1 and the parking assistance module 2 are coupled to each other. The processor unit 3.

The distance measuring unit 1 is installed in a vehicle, and the distance measuring unit is used for detecting the direction of a parking space to obtain a spatial information of the parking space, and the spatial information may include a length dimension of the parking space, A width dimension and coordinates. Specifically, the ranging unit 1 may be composed of an imaging device and a microcontroller, or may be a single unit integrating a radio frequency chip, a digital signal processor, a signal amplifier and a microcontroller A system-on-chip (SoC), for example, but not limited to, the radio frequency chip system may be a millimeter-wave radar (RADAR), a LiDAR (LiDAR) or an ultrasonic using 24GHz, 77GHz or 79GHz, the microcontroller system of the ranging unit 1 The spatial information can be obtained by triangulation or synthetic aperture calculation.

The installation position of the distance measuring unit 1 can be adjusted according to design requirements. For example, the distance measuring unit 1 can be installed on the right side, left side, front side or/and rear side of the vehicle. A person with ordinary knowledge can understand that, in this embodiment, the number of the ranging units 1 can be four, and they are respectively installed on the rear right corner side, the rear right middle side, the rear left corner side and the rear left middle side of the vehicle, etc. position, so as to have the function of detecting obstacles in the traveling direction of the vehicle.

The parking assistance module 2 is installed in the vehicle, and the parking assistance module 2 is used for tracking a parking path through a trajectory tracking algorithm to generate a plurality of turning curvatures in sequence, and the parking path is provided for The vehicle enters the guidance path of the parking space. For example, the parking assistance module 2 can have functions such as voice and display, and can track the parking path through a Pure Pursuit Algorithm or other tracking algorithms. In this embodiment, The parking scheme of the parking path is a parallel parking method in which the rear of the vehicle enters the parking space first.

In detail, the parking assistance module 2 sets a starting point coordinate, and obtains an end point coordinate according to the spatial information. The parking assistance module 2 plans the parking path according to the start point coordinate and the end point coordinate, and the parking The path is divided into several path sections in sequence, and the parking assistance module 2 can generate several gyration curvatures for the vehicle to sequentially move to each of the path sections according to the parking path and a body data of the vehicle.

The processor unit 3 is installed in the vehicle and is coupled to the ranging unit 1 and the parking assist module 2. When the processor unit 3 receives a parking signal, the processor unit 3 controls the operation of the ranging unit 1 and sends The obtained spatial information and a body data of the vehicle are determined to determine whether the parking space has enough space for parking the vehicle. If the determination result is yes, the processor unit 3 controls the operation of the parking assistance module 2, to obtain the plurality of gyration curvatures, and convert each of the gyration curvatures into a steering angle of the vehicle; if the judgment result is no, the processor unit 3 can send a departure signal to the on-board computer, so that the on-board computer Control the vehicle to move away from the current position. The vehicle body data system may include information such as a vehicle body length, a vehicle body width, a front axle center point coordinate, a rear axle center point coordinate, a wheelbase and a wheelbase, etc., for the parking assist module 2 to establish the The parking path, and the calculation formula used when tracking the parking path.

The processor unit 3 generates and sends a turn signal including the steering angles to an on-board computer of the vehicle, so that the on-board computer controls the rotation of the steering wheel of the vehicle and makes the rotation amplitude of the steering wheel conform to the number of rotations in sequence. Steering angle to drive the vehicle into the parking space. Wherein, the processor unit 3 and the on-board computer can be centralized (Centralized), distributed (Distributed) or a combination of the above two. The on-board computer controls the automatic driving technology of the vehicle movement, which belongs to the technical field of the present invention. Those with ordinary knowledge can understand it, so I won't go into details here.

Please refer to Figures 2 to 3, when a vehicle C1 wants to park on the roadside by entering a parking space P with the rear of the vehicle first, the driver can control a start button to send a stop signal to the processing The processor unit 3; the vehicle C1 is in the process of entering the parking space P, the vehicle C1 is located at a first fixed point position L1, if another vehicle C2 is parked behind the parking space P, the processor unit The 3 Series can obtain several first relative coordinates R1 of the other vehicle C2 with respect to the vehicle C1 according to the ranging unit 1 .

When the vehicle C1 continues to drive into the parking space P according to the parking path generated by the parking assistance module 2, so that the vehicle C1 is located at a second fixed point position L2, the second fixed point position L2 It can be obtained according to the first fixed point position L1 and the moving distance of the vehicle C1; wherein, the moving distance of the vehicle C1 can be obtained according to the rotation number of the tires of the vehicle C1, but not limited thereto. The processor unit 3 obtains a plurality of second relative coordinates R2 of the other vehicle C2 relative to the vehicle C1 according to the ranging unit 1, and compares the plurality of second relative coordinates R2 with the plurality of first relative coordinates R1 By comparing with each other, it is estimated that the other vehicle C2 is moving in the direction of the parking space P, or retreating in the direction away from the parking space P.

Specifically, the processor unit 3 can update the spatial information of the parking space according to the plurality of second relative coordinates R2 during the process of parking the vehicle C1 into the parking space P, and determine whether the updated spatial information is not There is enough space for parking the vehicle. If the determination result is yes, it can be further confirmed whether the vehicle C1 can drive into the parking space P along the original parking path. If the confirmation result is yes, the on-board computer controls the vehicle. C1 continues to move along the parking path; if the confirmation result is no, the processor unit 3 generates and sends a departure signal to the on-board computer, so that the on-board computer controls the vehicle C1 to move out of the parking space P, and controls the The parking assistance module 2 calculates according to the updated spatial information to re-plan and generate a secondary parking path, and controls the on-board computer to control the vehicle C1 to drive into the parking space according to the secondary parking path; if the judgment result is No, the on-board computer directly controls the vehicle C1 to leave the parking space.

On the other hand, the processor unit 3 can connect the plurality of first relative coordinates R1 in sequence to form a first virtual line V1, and connect the plurality of second relative coordinates R2 in sequence to form a first virtual line V1 A second front virtual line V2; the processor unit 3 can analyze the first front virtual line V1 and the second front virtual line V2, if the first front virtual line V1 is closer to the direction of the parking space P , which means that the other vehicle C2 is moving backward in the direction away from the parking space P; if the second virtual line V2 is closer to the direction of the parking space P, it means that the other vehicle C2 is moving in the direction of the parking space P ; If the first front virtual line V1 and the second front virtual line V2 overlap, it means that the other vehicle C2 is in a stationary state.

The processor unit 3 can update the spatial information of the parking space P according to the first virtual line V1 and the second virtual line V2, and determine whether the updated spatial information has enough space for parking the vehicle C1, If the determination result is yes, it can be further confirmed whether the vehicle C1 can enter the parking space P along the original parking path; if the determination result is yes, the on-board computer controls the vehicle C1 to continue to move along the original parking path ; If the confirmation result is no, the processor unit 3 generates and sends a departure signal to the on-board computer, so that the on-board computer controls the vehicle C1 to move out of the parking space P, and controls the parking assistance module 2 according to the update The subsequent spatial information operation is used to re-plan to generate the primary and secondary parking paths. The processor unit 3 controls the in-vehicle computer to control the vehicle C1 to drive into the parking space P according to the secondary parking path; if the judgment result is no, the in-vehicle computer directly controls the vehicle C1 to leave the parking space.

On the other hand, when the vehicle C1 is about to enter the parking space P according to the parking path, the processor unit 3 can also detect whether there is an obstacle B in the parking space P through the ranging unit 1 , And start timing when the obstacle B is detected to generate a waiting time; the processor unit 3 calculates whether the waiting time exceeds a time threshold, if the calculation result is yes, then the processor unit 3 can send a The departure signal is sent to the on-board computer, so that the on-board computer controls the vehicle C1 to drive away from the current position; if the calculation result is no, the on-board computer controls the vehicle C1 to continue moving along the parking path.

Referring to Figures 4 to 5, preferably, when the waiting time does not exceed the time threshold, the processor unit 3 can detect and obtain the size and position of the obstacle B through the ranging unit 1, And it is estimated whether the size of the obstacle B meets a restriction condition. If the estimated result is yes, the processor unit 3 controls the parking assistance module 2 to re-configure the parking aid module 2 according to the spatial information and the size and position of the obstacle B. Planning to generate a secondary parking path; the processor unit 3 controls the on-board computer to control the vehicle C1 to drive into the parking space according to the secondary parking path; if the estimation result is no, the processor unit 3 can send a driving Leave the signal to the on-board computer, so that the on-board computer can control the car Vehicle C1 drives away from its current position. In this embodiment, the restriction condition is that the radial length of the obstacle B relative to the width dimension of the parking compartment must be less than 1/3 of the width of the vehicle body, and the position of the obstacle B is located in the parking space Bit P is away from the side of the vehicle C1. Wherein, the time setting of the time threshold can be adjusted according to usage requirements, which is not a limitation of the present invention.

In addition, when the processor unit 3 controls the parking assistance module 2 to re-plan to generate the secondary parking path, the processor unit 3 can estimate that the vehicle C1 enters the secondary parking path according to the secondary parking path. The time it takes for a parking space P to generate a parking time. The processor unit 3 can control the parking assistance module 2 to issue a notification signal to inform the driver of the vehicle C1 that the estimated time for the vehicle C1 to stop and enter the parking space P is the parking time, so, The system has the function for the driver to evaluate whether to drive directly away from the current position, or to spend the parking time waiting for the vehicle C1 to drive into the parking space.

To sum up, the parking assistance system of the present invention can track a parking path through the parking assistance module to generate several turning curvatures, and the processor unit sends a turn signal when receiving a parking signal to the on-board computer of the vehicle, so that the on-board computer controls the rotation of the steering wheel of the vehicle, so that the rotation amplitude of the steering wheel sequentially conforms to the several curvatures of rotation, so as to control the vehicle to automatically drive into the parking compartment. The ranging unit, the parking assist module and the processor unit can all be devices that are already present in the vehicle, and do not require additional configuration and installation. In this way, the parking assistance system of the present invention has the functions of improving the convenience of parking and reducing the cost of the vehicle.

Although the present invention has been disclosed by the above-mentioned preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art can make various changes and modifications relative to the above-mentioned embodiments without departing from the spirit and scope of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the patent application attached hereto.

1: Ranging unit

2: Parking assistance module

3: Processor unit

Claims (6)

A parking assistance system, comprising: a ranging unit for installation in a vehicle, the ranging unit is used for detecting the direction of a parking space to obtain a spatial information of the parking space; a parking assistance module for Installed on the vehicle, the parking assistance module is used for tracking a parking path through a trajectory tracking algorithm to sequentially generate a plurality of turning curvatures, and the parking path is a guide for the vehicle to enter the parking space. a guide path; and a processor unit for being installed in the vehicle and coupled to the ranging unit and the parking assist module, the processor unit controls the operation of the ranging unit when receiving a parking signal, and sends The obtained spatial information and a body data of the vehicle are determined to determine whether the parking space has enough space for parking the vehicle. If the determination result is yes, the processor unit controls the operation of the parking assistance module to obtain The plurality of gyration curvatures are converted into a steering angle of the vehicle, and the processor unit generates and sends a turn signal including the steering angles to an on-board computer of the vehicle, so that the on-board computer Control the rotation of the steering wheel of the vehicle, and make the rotation amplitude of the steering wheel conform to the steering angles in sequence, so as to drive the vehicle into the parking space; wherein, the processor unit receives the parking signal, and the vehicle is During the process of entering the parking space, the vehicle is located at a first fixed point position. If another vehicle is parked behind the parking space, the processor unit obtains the relative position of the other vehicle relative to the parking space according to the ranging unit. Several first relative coordinates of the vehicle, when the vehicle continues to drive into the parking space according to the parking path, so that the vehicle is located at a second fixed point position, the second fixed point position is based on the first fixed point position and the vehicle The processor unit obtains a plurality of second relative coordinates of the other vehicle relative to the vehicle according to the distance measuring unit, and compares the plurality of second relative coordinates with the plurality of first relative coordinates with each other Yes, to evaluate whether the other vehicle is moving toward the parking space or moving backwards away from the parking space, the processor unit updates the spatial information of the parking space according to the plurality of second relative coordinates, and judges that after the update whether there is enough space for parking the vehicle, if the determination result is yes, further confirm whether the vehicle can drive into the parking space along the original parking path; And send a departure signal to the on-board computer, so that the on-board computer controls the vehicle to move out of the parking space, and controls the parking assistance module to calculate according to the updated spatial information to re-plan and generate a secondary parking path, and The on-board computer is controlled to control the vehicle to drive into the parking space according to the secondary parking path. The parking assistance system of claim 1, wherein the processor unit connects the plurality of first relative coordinates in sequence to form a first virtual line of the front of the vehicle, and connects the plurality of second relative coordinates in sequence, so as to A second front virtual line is formed, the processor unit analyzes the first front virtual line and the second front virtual line, if the first front virtual line is closer to the direction of the parking space, it means the other vehicle Reversing in the direction away from the parking space, if the virtual line of the second front of the vehicle is closer to the direction of the parking space, it means that the other vehicle is moving in the direction of the parking space. A parking assistance system, comprising: a ranging unit for installation in a vehicle, the ranging unit is used for detecting the direction of a parking space to obtain a spatial information of the parking space; a parking assistance module for Installed on the vehicle, the parking assistance module is used for tracking a parking path through a trajectory tracking algorithm to sequentially generate a plurality of turning curvatures, and the parking path is a guide for the vehicle to enter the parking space. a guide path; and a processor unit for being installed in the vehicle and coupled to the ranging unit and the parking assist module, the processor unit controls the operation of the ranging unit when receiving a parking signal, and sends The obtained spatial information and a body data of the vehicle are determined to determine whether the parking space has enough space for parking the vehicle. If the determination result is yes, the processor unit controls the operation of the parking assistance module to obtain The plurality of gyration curvatures are converted into a steering angle of the vehicle, and the processor unit generates and sends a turn signal including the steering angles to an on-board electric vehicle of the vehicle brain, make the on-board computer control the rotation of the steering wheel of the vehicle, and make the rotation amplitude of the steering wheel conform to the several steering angles in sequence, so as to drive the vehicle into the parking space; wherein, when the vehicle prepares according to the parking path When driving into the parking space, the processor unit detects whether there is an obstacle in the parking space through the ranging unit, and starts timing when the obstacle is detected to generate a waiting time, the processor unit Calculate whether the waiting time exceeds a time threshold, and if the calculation result is yes, send a departure signal to the on-board computer, so that the on-board computer controls the vehicle to drive away from the current position. The parking assist system of claim 3, wherein when the waiting time does not exceed the time threshold, the processor unit detects and obtains the size and position of the obstacle through the ranging unit, and estimates whether the size of the obstacle is not A constraint condition is met. If the estimation result is yes, the processor unit controls the parking assistance module to re-plan and generate a secondary parking path according to the spatial information and the size and position of the obstacle. The processor unit The on-board computer is controlled to control the vehicle to drive into the parking space according to the secondary parking path. The parking assist system of claim 4, wherein the restriction condition is that the radial length of the obstacle relative to the width dimension of the parking compartment must be less than 1/3 of the width of the vehicle body, and the position of the obstacle is On the side of the parking space away from the vehicle. The parking assistance system of claim 1 or 4, wherein when the processor unit controls the parking assistance module to re-plan to generate the secondary parking path, the processor unit estimates that the vehicle will drive according to the secondary parking path The time it takes to enter the parking space is used to generate a parking time, and the processor unit controls the parking assistance module to issue a notification signal to inform the driver of the vehicle that the vehicle will stop entering the parking space. The estimated time is the parking time.

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