WO2020098287A1 - 基于多车位检测的自动泊车方法及车载控制系统 - Google Patents

基于多车位检测的自动泊车方法及车载控制系统 Download PDF

Info

Publication number
WO2020098287A1
WO2020098287A1 PCT/CN2019/093440 CN2019093440W WO2020098287A1 WO 2020098287 A1 WO2020098287 A1 WO 2020098287A1 CN 2019093440 W CN2019093440 W CN 2019093440W WO 2020098287 A1 WO2020098287 A1 WO 2020098287A1
Authority
WO
WIPO (PCT)
Prior art keywords
parking space
vehicle
candidate
car
parking
Prior art date
Application number
PCT/CN2019/093440
Other languages
English (en)
French (fr)
Inventor
赖健明
肖志光
陈盛军
Original Assignee
广州小鹏汽车科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 广州小鹏汽车科技有限公司 filed Critical 广州小鹏汽车科技有限公司
Priority to EP19883919.3A priority Critical patent/EP3869483B1/en
Publication of WO2020098287A1 publication Critical patent/WO2020098287A1/zh

Links

Images

Classifications

    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/14—Traffic control systems for road vehicles indicating individual free spaces in parking areas
    • G08G1/141—Traffic control systems for road vehicles indicating individual free spaces in parking areas with means giving the indication of available parking spaces
    • G08G1/143—Traffic control systems for road vehicles indicating individual free spaces in parking areas with means giving the indication of available parking spaces inside the vehicles
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/14—Traffic control systems for road vehicles indicating individual free spaces in parking areas
    • G08G1/141—Traffic control systems for road vehicles indicating individual free spaces in parking areas with means giving the indication of available parking spaces
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/027—Parking aids, e.g. instruction means
    • B62D15/0285—Parking performed automatically
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/14—Traffic control systems for road vehicles indicating individual free spaces in parking areas
    • G08G1/145—Traffic control systems for road vehicles indicating individual free spaces in parking areas where the indication depends on the parking areas
    • G08G1/147—Traffic control systems for road vehicles indicating individual free spaces in parking areas where the indication depends on the parking areas where the parking area is within an open public zone, e.g. city centre
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/168—Driving aids for parking, e.g. acoustic or visual feedback on parking space
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9314—Parking operations

Definitions

  • the invention relates to the technical field of automatic driving, in particular to an automatic parking method and a vehicle-mounted control system based on multi-parking detection.
  • the current automatic parking system will directly park the car in the parking space after identifying a parking space. At this time, even if there are multiple parking spaces around the car, the user cannot select the parking space that he wants to park according to his wishes. In addition, if the car misses the identified parking space (for example, the user controls the car to artificially leave the parking space), then when the user wants to re-park in the parking space, he can only manually control the car to drive back to the vicinity of the parking space , Wait for the automatic parking control system to re-recognize and record the parking space, and then automatically park the car in the parking space. It can be seen that in the current automatic parking technical solution, the user has no choice and cannot park the car to the ideal parking space according to his wishes.
  • the embodiment of the invention discloses an automatic parking method and an on-board control system based on multi-parking detection, which allows users to select parking spaces according to their own wishes, and makes the automatic parking process more intelligent.
  • a first aspect of an embodiment of the present invention discloses an automatic parking method based on multi-parking detection, including:
  • the determining at least one parking space as a candidate parking space includes:
  • the step of receiving a selection instruction for the candidate parking space to determine a target parking space includes:
  • the displaying of the electronic icon for characterizing the candidate parking space on the vehicle-mounted display device includes:
  • the method further includes:
  • the parking lot where the car is currently located is detected according to the current position of the car;
  • the method further includes:
  • the candidate parking space closest to the current position of the car is determined as the target parking space.
  • a second aspect of an embodiment of the present invention discloses a vehicle-mounted control system, including:
  • the first detection unit is used to detect the reachable area around the car and detect the parking space in the reachable area;
  • a storage unit configured to acquire the location of the parking space and store the location of the parking space in a cache
  • a first determining unit configured to determine at least one parking space as a candidate parking space
  • a second determining unit configured to receive a selection instruction for the candidate parking space to determine a target parking space
  • the control unit is configured to control the position where the car stops in the target parking space after the second determination unit determines the target parking space.
  • the first determining unit is specifically configured to determine the relative distance of the position of the parking space in the cache relative to the current position of the car, and Determining a parking space with a relative distance less than or equal to a specified distance threshold as a candidate parking space; or, acquiring a preset number of parking spaces from the cache as a candidate parking space.
  • the second determining unit includes:
  • a display subunit configured to display an electronic icon for characterizing the candidate parking space in the vehicle-mounted display device
  • the determination subunit is configured to receive a selection instruction for any one of the electronic icons, and use the candidate parking space corresponding to the selected electronic icon as the target parking space.
  • the display subunit is specifically configured to determine the vehicle and the vehicle according to the current position of the vehicle and the position of the candidate parking space The relative position of the candidate parking space; and, displaying the electronic icon of the car at a fixed position in the on-vehicle display device, and according to the relative position of the car and the candidate parking space, on the on-vehicle display device The electronic icons of the candidate parking spaces are displayed in.
  • the vehicle-mounted control system further includes:
  • the detection unit is configured to detect the parking lot where the car is currently located according to the current position of the car when the selection instruction of the electronic icon is not received;
  • An obtaining unit configured to obtain the number of the parking lot and obtain a parking space number of a parking space of interest to the user according to the parking lot number;
  • a third determining unit configured to detect a candidate parking space with the same parking space number as the parking space of interest to the user in the candidate parking space displayed by the on-board display device, and assign the candidate with the same parking space number The available parking space is determined as the target parking space.
  • the vehicle-mounted control system further includes:
  • the fourth determining unit is configured to determine the closest candidate parking space to the current position of the car according to the relative position of the car and the candidate parking space when the selection instruction of the electronic icon is not received As a target parking space.
  • a third aspect of the embodiments of the present invention discloses a vehicle-mounted control system, including:
  • a processor coupled to the memory
  • the processor calls the executable program code stored in the memory to execute an automatic parking method based on multi-parking detection disclosed in the first aspect of the embodiments of the present invention.
  • a fourth aspect of an embodiment of the present invention discloses a computer-readable storage medium that stores a computer program, wherein the computer program causes the computer to perform an automatic parking method based on multi-parking detection disclosed in the first aspect of the embodiment of the present invention .
  • a fifth aspect of an embodiment of the present invention discloses a computer program product.
  • the computer program product runs on a computer, the computer is caused to perform part or all of the steps of any method of the first aspect of the embodiment of the present invention.
  • a sixth aspect of the embodiments of the present invention discloses an application publishing platform for publishing a computer program product, wherein, when the computer program product runs on a computer, the computer is caused to execute the first Part or all of the steps of any method in one aspect.
  • the vehicle-mounted control system can detect the parking spaces in the reachable area around the car; then store the detected multiple parking spaces in the cache, and determine at least one parking space with high use value for User choice; let users choose their favorite parking space according to their own wishes, making the process of automatic parking more intelligent; in addition to implementing the embodiment of the present invention, the multiple parking spaces stored in the vehicle control system may include the car has been driven The parking spaces can be used to provide users with choices at any time, further improving the user experience.
  • FIG. 1 is a schematic flowchart of an automatic parking method based on multi-parking detection disclosed in an embodiment of the present invention
  • FIG. 2 is a schematic flowchart of another automatic parking method based on multi-parking detection disclosed in an embodiment of the present invention
  • FIG. 3 is a schematic flowchart of another automatic parking method based on multi-parking detection disclosed in an embodiment of the present invention.
  • FIG. 4 is a schematic structural diagram of a vehicle-mounted control system disclosed in an embodiment of the present invention.
  • FIG. 5 is a schematic structural diagram of another vehicle-mounted control system disclosed in an embodiment of the present invention.
  • FIG. 6 is a schematic structural diagram of another vehicle-mounted control system disclosed in an embodiment of the present invention.
  • FIG. 7 is a schematic structural diagram of another vehicle-mounted control system disclosed in an embodiment of the present invention.
  • Figure 8 is a diagram of the reachable area
  • Figure 9 is an illustration of a parking space
  • FIG. 10 is a schematic diagram of a vehicle-mounted display device
  • FIG. 11 is a diagram to assist in explaining the conversion of position coordinates into relative positions.
  • the embodiment of the invention discloses an automatic parking method and an on-board control system based on multi-parking detection, which allows users to select parking spaces according to their own wishes, and makes the automatic parking process more intelligent.
  • FIG. 1 is a schematic flowchart of an automatic parking method based on multi-parking detection disclosed in an embodiment of the present invention.
  • the control method of the vehicle-mounted control system may include the following steps.
  • the vehicle-mounted control system detects the reachable area around the car, and detects the parking space in the reachable area.
  • the reachable area refers to an area where the car can drive in normally without obstacles blocking its normal driving.
  • the vehicle-mounted control system may have a built-in Global Positioning System (GPS) module or radar.
  • GPS Global Positioning System
  • the vehicle-mounted control system may use its built-in GPS module or radar to obtain the current location of the vehicle.
  • Image and recognize the boundary of obstacles in the image, and the area enclosed by the boundary of the above obstacles is regarded as the reachable area.
  • the reachable area can be shown in FIG. 8, where the shaded part is the reachable area.
  • a parking space refers to an area where a car can be parked normally. It can be an empty parking space obtained by the on-board control system by identifying the parking space line on the ground around the car, or it can be an area where the on-board control system meets the parking requirements by identifying the size and shape of the above-mentioned reachable area.
  • Figure 9 shows.
  • the vehicle-mounted control system can determine whether the user has the intention to stop the vehicle based on the driving speed of the car and the user's historical parking position. For example, when the user drives to a restaurant, the vehicle-mounted control system determines that the restaurant is a restaurant that the user frequently consumes by accessing the user's historical parking position records in the system, and detects that the driving speed of the car has fallen below the preset speed , Even the speed has been reduced to 0km / h (because the car has not stopped, the default is to temporarily stop). Based on the above data, the vehicle-mounted control system determines that the user intends to park here, and then automatically starts the detection module to detect the reachable area around the car, and detects the parking space in the reachable area.
  • the vehicle-mounted control system can automatically turn on the detection module to detect the parking space when the user drives to a place where the user often stops, which makes the vehicle-mounted control system more intelligent and improves the user's experience.
  • the vehicle-mounted control system can connect to the navigation system to obtain the destination of the user's trip, and automatically start the detection module to detect the reachable area around the car when the user drives near the destination , And detect parking spaces in accessible areas.
  • the vehicle-mounted control system can automatically turn on the detection module to detect a parking space when the user drives to a destination recorded by the navigation system, which makes the vehicle-mounted control system more intelligent and improves the user experience.
  • the vehicle-mounted control system obtains the location of the above-mentioned parking space and stores the location of the parking space in the cache.
  • the vehicle-mounted control system can continuously detect the parking spaces around the car while the car is driving, and store the location of the detected at least one parking space in the cache, but it does not necessarily store the available space in the cache
  • the parking spaces are displayed through the on-board display device.
  • the vehicle-mounted control system may separately store the location of the parking place frequently used by users. For example, the location of the parking space in the underground garage of the community where the user lives, the location of the parking space in the parking lot of the user's work unit, or the open space near the user's address, the vehicle-mounted control system can obtain the location of the above-mentioned parking location and correspond The location is stored in association.
  • the vehicle-mounted control system can quickly obtain the location of the parking space associated with the location from the cache when the user drives to a frequently visited place, reducing the detection time and increasing the processing speed of the vehicle-mounted control system, and Improve the user experience.
  • the on-board control system determines at least one parking space as a candidate parking space.
  • the vehicle-mounted control system may determine the parking space with the relative distance less than or equal to the specified distance threshold as the relative distance of the position of the parking space in the cache relative to the current position of the car Candidate parking spaces.
  • the vehicle-mounted control system determines the parking space A and the parking space B as candidate parking spaces.
  • the vehicle-mounted control system may obtain a preset number of parking spaces from the cache as candidate parking spaces.
  • the preset number may be set by default in the vehicle control system or may be manually set by the user.
  • the in-vehicle control system can display useful parking spaces in the limited display area of the screen and have a high probability of being selected by the user. This makes the parking spaces displayed on the screen for users to choose more reasonable.
  • the on-board control system can hide the parking space that the user has missed but the car has recognized in the on-board display device; but then the user can slide the screen at any time to make the parking space available Reappear.
  • the on-board control system can automatically control the car according to the selection instruction Stop in the parking space.
  • the in-vehicle control system receives a selection instruction for the candidate parking space to determine the target parking space.
  • the vehicle-mounted control system may display an electronic icon for characterizing a candidate parking space on the vehicle-mounted display device; when a selection instruction for any electronic icon is received, the candidate corresponding to the selected electronic icon Available parking spaces are used as target parking spaces.
  • the schematic diagram of the vehicle-mounted display device described above may be as shown in FIG. 10, where the prohibition symbol indicates that the area cannot be parked or a car has already been parked.
  • the vehicle-mounted control system controls the position where the car stops in the target parking space.
  • the vehicle-mounted control system can obtain the target parking space according to the user's manual selection result on the screen or recognize the user's voice instruction, and the reference driving trajectory generated by the vehicle-mounted control system according to the relative position of the car and the parking space
  • the car is controlled to stop at the position of the target parking space according to the reference driving trajectory at a preset speed.
  • the vehicle-mounted control system can detect the parking spaces in the reachable area around the car; then store the detected multiple parking spaces in the cache, and determine at least one high-value parking space Parking spaces are available for users to choose; allowing users to choose their favorite parking spaces according to their wishes, making the process of automatic parking more intelligent.
  • FIG. 2 is a schematic flowchart of another automatic parking method based on multi-parking detection disclosed in an embodiment of the present invention.
  • the control method of the vehicle-mounted control system may include the following steps.
  • steps 201-203 are the same as steps 101-103 in the first embodiment, and are not repeated here.
  • the vehicle-mounted control system determines the relative position of the vehicle and the candidate parking space according to the current position of the vehicle and the location of the candidate parking space.
  • the vehicle control system may determine the relative position of the vehicle and the candidate parking space according to the current position of the vehicle and the position of the candidate parking space: the vehicle control system may be obtained through its built-in GPS module Position coordinates of the car and the candidate parking space. The position coordinates are expressed based on world coordinates. Since the reference object of the world coordinates is the earth, the world coordinates are fixed. The vehicle-mounted control system can convert the relative position of the car and the candidate parking space according to the position coordinates of the car and the candidate parking space.
  • the vehicle-mounted control system can set an origin for each parking lot or parking area, and then generate a global virtual coordinate system according to the origin of the parking lot or parking area, and then obtain it through the built-in GPS module
  • the global position coordinates of the car and the parking space where the global position coordinates of the car can be expressed as (x, y, ⁇ ), ⁇ represents the angle of the central axis of the car relative to the virtual coordinate x-axis, the global position coordinates of the parking space It can be expressed as (x2, y2, ⁇ 2, type2), ⁇ 2 represents the angle of the central axis of the parking space relative to the virtual coordinate x-axis, and type2 represents the type of parking space.
  • the vehicle-mounted control system can generate a local virtual coordinate system with the vehicle center as the origin according to the center of the car.
  • the default vehicle position coordinate in the local virtual coordinate system is (0, 0, ⁇ )
  • the position coordinates of the parking space in the local virtual coordinate system can be calculated, and then the global coordinates can be transformed into the coordinates of the parking space relative to the car, and then the vehicle
  • the control system can obtain the real-time relative position of the parking space and the car according to the real-time global position of the car and the above transformation relationship.
  • the in-vehicle control system displays the electronic icon of the car at a fixed position in the in-vehicle display device, and displays the electronic icon of the candidate parking space in the in-vehicle display device according to the relative position of the car and the candidate parking space.
  • the on-vehicle display device of the car may also be provided with a "refresh" virtual button, which is used when the user is dissatisfied with the candidate parking displayed on the in-vehicle display device by the on-board control system.
  • the "Refresh" button allows the vehicle-mounted control system to detect a refresh command, and allows the vehicle-mounted control system to reacquire several parking spaces from the cache as candidate parking spaces and display them in the on-board display device, where the newly acquired parking spaces do not include the Parking space displayed in the on-board display device.
  • the vehicle-mounted control system can refresh the candidate parking spaces displayed on the vehicle-mounted display device when the user's "refresh" instruction is detected, provide more parking spaces for the user to choose, and improve the user's experience.
  • the electronic icon of the car and the electronic icon of the candidate parking space can be highlighted when the vehicle control system detects that the user clicks on the vehicle display device, for example, the brightness of the icon frame is increased, the icon Color changes, etc.
  • the in-vehicle control system receives a selection instruction for any one of the electronic icons, and uses the candidate parking space corresponding to the selected electronic icon as the target parking space.
  • the user can select the electronic icon by clicking the touch screen of the vehicle display device.
  • the vehicle-mounted control system may have a built-in voice control module.
  • the voice control module may be used to recognize voice commands for the user to select a parking space.
  • the voice commands that can be recognized may include: number X on the screen , The second parking space from the right at the top of the screen, etc., the embodiment of the present invention is not limited.
  • the user controls the vehicle-mounted control system to select a parking space through voice commands, reducing the operation steps of the user's hand, and the user can also hold the steering wheel with both hands to drive the car. This not only improves the user experience, but also protects the user's safety.
  • the voice control module of the vehicle control system may also have a built-in voiceprint library, and the user may record the driver's voice into the voiceprint library of the voice control module in advance, and then the voice control module only recognizes the voiceprint Voice commands of sounds already stored in the library.
  • step 207 is the same as step 105 in the first embodiment, and will not be described here.
  • the method described in FIG. 2 can also display the candidate parking spaces in the form of electronic icons for the user to choose, and provide the user with a visual reference to assist the driver of the vehicle.
  • the parking area displayed in the parking interface is mapped to the actual parking area, thereby improving the driver's parking experience.
  • FIG. 3 is a schematic flowchart of another automatic parking method based on multi-parking detection disclosed in an embodiment of the present invention.
  • the control method of the vehicle-mounted control system may include the following steps.
  • steps 301 to 303 are the same as steps 101 to 103 in the first embodiment, which are not repeated here, and step 304 or step 305 can be executed after step 303 is executed.
  • step 304 is the same as step 104 in the first embodiment, which is not repeated here, and step 309 is directly executed after step 304 is performed.
  • the vehicle-mounted control system displays an electronic icon for characterizing the candidate parking space in the vehicle-mounted display device.
  • the vehicle-mounted control system detects the parking lot where the vehicle is currently located according to the current position of the vehicle.
  • the vehicle-mounted control system may determine the closest parking space candidate to the current position of the car based on the relative position of the car and the candidate parking space displayed on the screen as Target parking space.
  • a target parking space where a car can be quickly parked can be determined, saving parking time and improving the user experience.
  • the vehicle-mounted control system obtains the parking lot number and obtains the parking space number of the parking space of interest to the user according to the parking lot number.
  • the way in which the vehicle-mounted control system obtains the parking lot number may be: the vehicle-mounted control system obtains the vehicle's global position coordinates (x, y, ⁇ ) and between GPS and the pre-stored parking lot number (ie, parking lot ID) Correspondence list 1 of the system, and obtain the parking lot ID from the relationship list 1 according to the global position coordinates of the vehicle; based on the queried parking lot ID, call the correspondence between the parking space position of the parking lot and the parking space number (ie, parking space ID) List 2, and then obtain the number of each parking space in the parking lot from the relationship list 2.
  • the parking spaces that the user is interested in in the embodiment of the present invention may be the on-board control system accessing the user's historical parking records in the parking lot through the parking lot number, and obtaining the parking lot that the user uses the most Number of parking spaces.
  • the in-vehicle control system detects a candidate parking space with the same parking space number as the parking space number of the parking space of interest to the user, and determines the candidate parking space with the same parking space number as the target parking space. .
  • the on-board control system may obtain the parking space of interest to the user according to the parking space number And the world coordinates of the parking space in the cache are detected, and the detected parking space in the cache having the same world coordinates as the world coordinates of the parking space of interest to the user is determined as the target parking space.
  • step 309 is the same as step 105 in the first embodiment, and will not be repeated here.
  • the method described in FIG. 3 can also determine the target parking space according to a preset calculation rule when the selection instruction of the parking space is not detected.
  • the process of automatic parking is made more intelligent, and the user experience is further improved.
  • FIG. 4 is a schematic structural diagram of a vehicle-mounted control system disclosed in an embodiment of the present invention.
  • the vehicle-mounted control system may include:
  • the first detection unit 401 is used to detect the reachable area around the car and detect the parking space in the reachable area;
  • the storage unit 402 is configured to acquire the location of the above-mentioned parking space and store the location of the parking space in the cache;
  • the first determining unit 403 is configured to determine at least one parking space as a candidate parking space
  • the second determining unit 404 is configured to receive a selection instruction of a candidate parking space to determine a target parking space
  • the control unit 405 is configured to control the position where the car stops in the target parking space after the second determination unit 404 determines the target parking space.
  • the first detection unit 401 may have a built-in Global Positioning System (Global Positioning System, GPS) module or radar for acquiring images around the current position of the car.
  • Global Positioning System Global Positioning System, GPS
  • the first detection unit 401 may also have a built-in speed detection module for detecting whether the traveling speed of the car has fallen below a preset speed.
  • the first detection unit 401 can also be used to automatically start the detection module to detect the reachable area around the car when the user drives to a destination indicated by the navigation system, and Parking spaces are detected in the area.
  • the storage unit 402 may be used to separately store the location of the parking place frequently used by users.
  • control unit 405 may have a built-in generation module for generating a reference driving trajectory according to the current position of the car and the position of the target parking space.
  • the vehicle-mounted control system described in FIG. 4 can detect the parking spaces in the reachable area around the car; then store the detected multiple parking spaces in the cache and determine at least one parking space with high use value For users to choose; let users can choose their favorite parking space according to their own wishes, making the process of automatic parking more intelligent.
  • FIG. 5 is a schematic structural diagram of another vehicle-mounted control system disclosed in an embodiment of the present invention.
  • the vehicle-mounted control system shown in FIG. 5 is optimized by the vehicle-mounted control system shown in FIG. 4.
  • the first determination unit 403 in the vehicle-mounted control system shown in FIG. 5 is specifically used to determine the relative distance of the position of the parking space in the cache relative to the current position of the car, and Determine the parking spaces with a relative distance less than or equal to the specified distance threshold as candidate parking spaces; or, obtain a preset number of parking spaces from the cache as candidate parking spaces;
  • the second determining unit 404 in the in-vehicle control system shown in FIG. 5 may include:
  • the display subunit 4041 is used to display an electronic icon used to characterize the candidate parking space in the vehicle-mounted display device;
  • the determination subunit 4042 is configured to receive a selection instruction for any electronic icon, and use the candidate parking space corresponding to the selected electronic icon as the target parking space;
  • the display subunit 4041 is specifically used to determine the relative position of the car and the candidate parking space according to the current position of the car and the position of the candidate parking space; and, to display the electronic icon of the car at a fixed position in the vehicle display device The relative position of the car and the candidate parking space is displayed on the in-vehicle display device as an electronic icon of the candidate parking space.
  • the display subunit 4041 may have a built-in GPS module for acquiring world coordinates of the car and the candidate parking spaces.
  • the display subunit 4041 may also be used to allow the vehicle control system to reacquire a number of parking spaces from the cache when the user is not satisfied with the candidate parking options displayed by the vehicle control system on the vehicle display device It is displayed as a candidate parking space on the in-vehicle display device, where the newly acquired parking space does not include the parking space that has been displayed on the in-vehicle display device.
  • the display subunit 4041 may have a built-in backlight adjustment module for adjusting the brightness or color of the electronic icon frame displayed in the vehicle display device.
  • the electronic icon of the car and the electronic icon of the candidate parking space can be highlighted when the in-vehicle control system detects that the user clicks it on the in-vehicle display device, which improves the user's operating feel when operating on the in-vehicle display device, and thus improves User experience.
  • the determination subunit 4042 may have a built-in voice control module for recognizing the user's voice instruction for selecting a parking space; correspondingly, the voice control module may also have a built-in voiceprint library for recording the driver's sound.
  • the built-in voice control module can reduce the operation steps of the user's hand, and the user can also hold the steering wheel with both hands to drive the car, which improves the user's experience and protects the user's safety.
  • the built-in voiceprint library can prevent the voice or noise of other people from affecting the recognition of the voice control module, improve the processing speed of the on-board control system, and avoid the unintentional voice commands of other users except the driver, so that the car The parking space where the user does not want to park is parked.
  • the vehicle-mounted control system described in FIG. 5 can also display the candidate parking spaces in the form of electronic icons for the user to choose, and provide the user (such as the driver) with a vision Reference to assist the driver of the vehicle to establish a mapping relationship between the parking area displayed in the parking interface and the actual parking area, thereby improving the driver's parking experience.
  • FIG. 6 is a schematic structural diagram of another vehicle-mounted control system disclosed in an embodiment of the present invention.
  • the vehicle-mounted control system shown in FIG. 6 is optimized by the vehicle-mounted control system shown in FIG. 5.
  • the vehicle-mounted control system shown in FIG. 6 may further include:
  • the detection unit 406 is configured to detect the parking lot where the car is currently located according to the current position of the car when the selection instruction of the electronic icon is not received;
  • An obtaining unit 407 configured to obtain a parking lot number and obtain a parking space number of a parking space of interest to the user according to the parking lot number;
  • the third determining unit 408 is configured to detect a candidate parking space with the same parking space number as the parking space of interest to the user among the candidate parking spaces displayed by the on-board display device, and determine the candidate parking space with the same parking space number as Target parking space
  • the fourth determining unit 409 is configured to determine the candidate parking space closest to the current position of the car as the target parking space according to the relative position of the car and the candidate parking space when the selection instruction of the electronic icon is not received.
  • the second detection unit 407 may have a built-in recording module for recording the parking lot number and the parking space number.
  • the third detection unit 409 may be built with a GPS module for acquiring the world coordinates of the parking space that the user is interested in and the world coordinates of the parking space in the cache.
  • the vehicle-mounted control system described in FIG. 6 can also determine the target parking space according to a preset calculation rule when no instruction for selecting a parking space is detected.
  • the process of automatic parking is made more intelligent, and the user experience is further improved.
  • FIG. 7 is a schematic structural diagram of another vehicle-mounted control system disclosed in an embodiment of the present invention.
  • the vehicle-mounted control system may include:
  • a memory 701 storing executable program code
  • a processor 702 coupled with the memory 701;
  • the processor 702 calls the executable program code stored in the memory 701 to execute any one of the automatic parking methods based on the detection of multiple parking spaces in FIGS. 1 to 3.
  • An embodiment of the present invention discloses a computer-readable storage medium that stores a computer program, wherein the computer program causes the computer to execute any one of the automatic parking methods based on multi-parking detection in FIGS. 1 to 3.
  • An embodiment of the present invention also discloses an application publishing platform, wherein the application publishing platform is used to publish a computer program product, wherein, when the computer program product runs on a computer, the computer is caused to perform part of the method as in the above method embodiments Or all steps.
  • the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be object units, that is, may be located in one place, or may be distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the objectives of the solution of this embodiment.
  • the functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units may be integrated into one unit.
  • the above integrated unit may be implemented in the form of hardware or software functional unit.
  • the above integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it may be stored in a computer-accessible memory.
  • the technical solution of the present invention can be embodied in the form of a software product in essence or a part that contributes to the existing technology or all or part of the technical solution, and the computer software product is stored in a memory It includes several requests to make a computer device (which may be a personal computer, a server or a network device, etc., specifically a processor in the computer device) execute some or all of the steps of the above methods in various embodiments of the present invention.
  • the program may be stored in a computer-readable storage medium, and the storage medium includes read-only Memory (Read-Only Memory, ROM), Random Memory (Random Access, Memory, RAM), Programmable Read-only Memory (PROM), Erasable Programmable Read-Only Memory (Erasable Programmable Read Only Memory, EPROM), One-time Programmable Read-Only Memory (OTPROM), electronically erasable rewritable read-only memory (Electrically-Erasable Programmable Read-Only Memory, EEPROM), compact disc (Compact Disc) Read-Only Memory (CD-ROM) or other optical disk storage, magnetic disk storage, magnetic tape storage, or any other computer-readable medium that can be used to carry or store data.
  • Read-Only Memory Read-Only Memory
  • RAM Random Memory
  • PROM Programmable Read-only Memory
  • EPROM Erasable Programmable Read-Only Memory
  • OTPROM One-time Programmable Read-Only Memory
  • OTPROM One-time Programmable Read-Only Memory

Landscapes

  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Traffic Control Systems (AREA)
  • Navigation (AREA)

Abstract

基于多车位检测的自动泊车方法及车载控制系统，该方法包括：检测汽车周围的可达区域，并在可达区域中检测可停车位(101、201、301)；获取上述可停车位的位置并将可停车位的位置存储到缓存中(102、202、302)，以及确定至少一个可停车位作为候选可停车位(103、203、303)；接收对候选可停车位的选择指令，以确定出目标停车位(104、206、304)；控制汽车停入目标停车位的位置(105、207、309)。实施上述方法让用户可以根据自己的意愿选择停车位，使得自动泊车的过程更加智能化。

Description

基于多车位检测的自动泊车方法及车载控制系统 技术领域
本发明涉及自动驾驶技术领域，具体涉及一种基于多车位检测的自动泊车方法及车载控制系统。
背景技术
目前的自动泊车系统在识别出一个可停车位之后，会直接将汽车泊入该车位。此时即使汽车周边存在多个可停车位，用户也无法按照自己的意愿选择想要停入的车位。此外，如果汽车错过了已识别出的可停车位(比如用户控制汽车人为地驶离该可停车位)，那么当用户想要重新泊入该车位时，只能手动控制汽车驶回该车位附近，等待自动泊车控制系统重新识别记录该车位后，再将汽车自动泊入该车位。可见，在目前的自动泊车技术方案中，用户没有选择的余地，无法根据自己的意愿将汽车停到理想的车位。
发明内容
本发明实施例公开了一种基于多车位检测的自动泊车方法及车载控制系统，让用户可以根据自己的意愿选择停车位，使得自动泊车的过程更加智能化。
本发明实施例第一方面公开一种基于多车位检测的自动泊车方法，包括：
检测汽车周围的可达区域，并在所述可达区域中检测可停车位；
获取所述可停车位的位置并将所述可停车位的位置存储到缓存中，以及确定至少一个可停车位作为候选可停车位；
接收对所述候选可停车位的选择指令，以确定出目标停车位；
控制汽车停入所述目标停车位的位置。
作为一种可选的实施方式，在本发明实施例第一方面中，所述确定至少一个可停车位作为候选可停车位，包括：
确定所述缓存中的可停车位的位置相对于汽车的当前位置的相对距离，并将所述相对距离小于或等于指定的距离阈值的可停车位确定为候选可停车位；
或者，从所述缓存中获取预置数量的可停车位作为候选可停车位。
作为一种可选的实施方式，在本发明实施例第一方面中，所述接收对所述候选可停车位的选择指令，以确定出目标停车位的步骤包括：
在车载显示装置中显示用于表征所述候选可停车位的电子图标；
接收对所述任一个电子图标的选择指令，并将被选中的电子图标所对应的候选可停车位作为目标停车位。
作为一种可选的实施方式，在本发明实施例第一方面中，所述在车载显示装置中显示用于表征所述候选可停车位的电子图标，包括：
根据所述汽车的当前位置以及所述候选可停车位的位置确定所述汽车与所述候选可停车位的相对位置；
在所述车载显示装置中的固定位置显示所述汽车的电子图标，以及根据所述汽车与所述候选可停车位的相对位置，在所述车载显示装置中显示所述候选可停车位的电子图标。
作为一种可选的实施方式，在本发明实施例第一方面中，在所述车载显示装置中显示用于表征所述候选可停车位的电子图标之后，所述方法还包括：
当未接收到所述电子图标的选择指令时，根据所述汽车的当前位置检测所述汽车当前所处的停车场；
获取所述停车场的编号并根据所述停车场的编号获取用户感兴趣的停车位的车位编号；
检测所述车载显示装置显示的所述候选可停车位中车位编号与用户感兴趣的停车位的车位编号相同的候选可停车位，并将所述车位编号相同的候选可停车位确定为目标停车位。
作为一种可选的实施方式，在本发明实施例第一方面中，在所述车载显示装置中显示用于表征所述候选可停车位的电子图标之后，所述方法还包括：
当未接收到所述电子图标的选择指令时，根据所述汽车与所述候选可停车位的相对位置，确定出距离所述汽车的当前位置最近的候选可停车位作为目标停车位。
本发明实施例第二方面公开一种车载控制系统，包括：
第一检测单元，用于检测汽车周围的可达区域，并在所述可达区域中检测可停车位；
存储单元，用于获取所述可停车位的位置并将所述可停车位的位置存储到缓存中；
第一确定单元，用于确定至少一个可停车位作为候选可停车位；
第二确定单元，用于接收对所述候选可停车位的选择指令，以确定出目标停车位；
控制单元，用于在所述第二确定单元确定出目标停车位后，控制汽车停入所述目标停车位的位置。
作为一种可选的实施方式，在本发明实施例第二方面中，所述第一确定单元具体用于确定所述缓存中的可停车位的位置相对于汽车的当前位置的相对距离，并将所述相对距离小于或等于指定的距离阈值的可停车位确定为候选可停车位；或者，从所述缓存中获取预置数量的可停车位作为候选可停车位。
作为一种可选的实施方式，在本发明实施例第二方面中，所述第二确定单元包括：
显示子单元，用于在车载显示装置中显示用于表征所述候选可停车位的电子图标；
确定子单元，用于接收对所述任一个电子图标的选择指令，并将被选中的电子图标所对应的候选可停车位作为目标停车位。
作为一种可选的实施方式，在本发明实施例第二方面中，所述显示子单元具体用于根据所述汽车的当前位置以及所述候选可停车位的位置确定所述汽车与所述候选可停车位的相对位置；以及，在所述车载显示装置中的固定位置显示所述汽车的电子图标，以及根据所述汽车与所述候选可停车位的相对位置，在所述车载显示装置中显示所述候选可停车位的电子图标。
作为一种可选的实施方式，在本发明实施例第二方面中，所述车载控制系统还包括：
检测单元，用于在未接收到所述电子图标的选择指令时，根据所述汽车的当前位置检测所述汽车当前所处的停车场；
获取单元，用于获取所述停车场的编号并根据所述停车场的编号获取用户感兴趣的停车位的车位编号；
第三确定单元，用于检测所述车载显示装置显示的所述候选可停车位中车位编号与用户感兴趣的停车位的车位编号相同的候选可停车位，并将所述车位编号相同的候选可停车位确定为目标停车位。
作为一种可选的实施方式，在本发明实施例第二方面中，所述车载控制系统还包括：
第四确定单元，用于在未接收到所述电子图标的选择指令时，根据所述汽车与所述候选可停车位的相对位置，确定出距离所述汽车的当前位置最近的候选可停车位作为目标停车位。
本发明实施例第三方面公开一种车载控制系统，包括：
存储有可执行程序代码的存储器；
与所述存储器耦合的处理器；
所述处理器调用所述存储器中存储的所述可执行程序代码，执行本发明实施例第一方面公开的一 种基于多车位检测的自动泊车方法。
本发明实施例第四方面公开一种计算机可读存储介质，其存储计算机程序，其中，所述计算机程序使得计算机执行本发明实施例第一方面公开的一种基于多车位检测的自动泊车方法。
本发明实施例第五方面公开一种计算机程序产品，当所述计算机程序产品在计算机上运行时，使得所述计算机执行本发明实施例第一方面的任意一种方法的部分或全部步骤。
本发明实施例第六方面公开一种应用发布平台，所述应用发布平台用于发布计算机程序产品，其中，当所述计算机程序产品在计算机上运行时，使得所述计算机执行本发明实施例第一方面的任意一种方法的部分或全部步骤。
与现有技术相比，本发明实施例具有以下有益效果：
本发明实施例中，车载控制系统可以检测汽车周围的可达区域中的可停车位；再将检测到的多个可停车位储存至缓存中，并确定至少一个使用价值高的可停车位供用户选择；让用户可以根据自己的意愿来选择自己中意的停车位，使得自动泊车的过程更加智能化；另外实施本发明实施例，车载控制系统储存的多个可停车位可以包括汽车已经驶过的可停车位，以便随时提供用户给选择，进一步提升了用户的使用体验。
附图说明
为了更清楚地说明本发明实施例中的技术方案，下面将对实施例中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1是本发明实施例公开的一种基于多车位检测的自动泊车方法的流程示意图；
图2是本发明实施例公开的另一种基于多车位检测的自动泊车方法的流程示意图；
图3是本发明实施例公开的另一种基于多车位检测的自动泊车方法的流程示意图；
图4是本发明实施例公开的一种车载控制系统的结构示意图；
图5是本发明实施例公开的另一种车载控制系统的结构示意图；
图6是本发明实施例公开的另一种车载控制系统的结构示意图；
图7是本发明实施例公开的另一种车载控制系统的结构示意图；
图8是可达区域的图示；
图9是可停车位的图示；
图10是车载显示装置的示意图；
图11是辅助说明位置坐标转换成相对位置的图示。
具体实施方式
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
需要说明的是，本发明的说明书和权利要求书中的术语“第一”、“第二”、“第三”以及“第四”等是用于区别不同的对象，而不是用于描述特定顺序。本发明实施例的术语“包括”和“具有”以及他们的任何变形，意图在于覆盖不排他的包含，例如，包含了一系列步骤或单元的过程、方法、系统、产品或设备不必限于清楚地列出的那些步骤或单元，而是可包括没有清楚地列出的或对于这些过程、方法、产品或设备固有的其它步骤或单元。
本发明实施例公开了一种基于多车位检测的自动泊车方法及车载控制系统，让用户可以根据自己的意愿选择停车位，使得自动泊车的过程更加智能化。
下面将结合具体实施例对本发明技术方案进行详细说明。
实施例一
请参阅图1，图1是本发明实施例公开的一种基于多车位检测的自动泊车方法的流程示意图。如图1所示，该车载控制系统的控制方法可以包括以下步骤。
101、车载控制系统检测汽车周围的可达区域，并在可达区域中检测可停车位。
本发明实施例中，可达区域指的是汽车可以正常驶入，没有障碍物阻挡其正常行驶的区域。
作为一种可选的实施方式，该车载控制系统可以内置有全球定位系统(Global Positioning System，GPS)模块或者雷达，相应地车载控制系统可以通过其内置的GPS模块或者雷达来获取汽车当前位置周围的图像，并识别图像中障碍物的边界，将上述障碍物的边界连接起来所围成的区域作为可达区域，该可达区域可以如图8所示，其中阴影部分为可达区域。
本发明实施例中，可停车位指的是可以让汽车正常泊入的区域。其可以是车载控制系统通过识别汽车周围地面上的车位库位线获得的空车位也可以是车载控制系统通过识别上述可达区域中面积大小以及形状满足停车要求的区域，该可停车位可以如图9所示。
作为一种可选的实施方式，车载控制系统可以通过汽车的行驶速度以及用户的历史停车位置判断用户是否有停车的意向。例如，用户驾车行驶到一家餐厅附近时，车载控制系统通过访问系统中用户历史停车位置的记录确定该餐厅为用户经常消费的一家餐厅，且检测到汽车的行驶速度已经降到预置的速度以下，甚至速度已降到0km/h(因为汽车尚未熄火，默认为暂时停车)。通过上述数据，车载控制系统判断用户有在此处停车的意向，则自动开始启动检测模块以检测汽车周围的可达区域，并在可达区域中检测可停车位。
实施上述方法，车载控制系统可以在用户驾车行驶到用户经常停车的地点附近时，自动开启检测模块检测可停车位，使得车载控制系统更加智能化，且提高了用户的使用体验。
作为另一种可选的实施方式，车载控制系统可以通到导航系统获取用户此次行程的目的地，并当用户驾车行驶到目的地附近时自动开始启动检测模块以检测汽车周围的可达区域，并在可达区域中检测可停车位。
实施上述方法，车载控制系统可以在用户驾车行驶到导航系统记录的目的地附近时，自动开启检测模块检测可停车位，使得车载控制系统更加智能化，且提高了用户的使用体验。
102、车载控制系统获取上述可停车位的位置并将可停车位的位置存储到缓存中。
本发明实施例中，车载控制系统可以在汽车行驶的过程中持续检测汽车周围的可停车位，并将检测到至少一个可停车位的位置存储到缓存中，但不一定会把缓存中的可停车位都通过车载显示装置显示出来。
作为一种可选的实施方式，车载控制系统可以将用户经常使用的停车地点的位置单独存储起来。例如，用户居住的小区的地下车库里的停车位的位置、用户工作单位停车场的停车位的位置或者用户住址附近的空地，车载控制系统可以获取上述的停车地点的位置并将其与对应的地点关联存储起来。
实施上述方法，车载控制系统可以在用户驾车行驶到经常去的地点时，快速从缓存中获取与该地点关联的停车位的位置，减少了检测的时间，提高了车载控制系统的处理速度，进而提高了用户的使用体验。
103、车载控制系统确定至少一个可停车位作为候选可停车位。
作为一种可选的实施方式，车载控制系统可以通过确定缓存中的可停车位的位置相对于汽车的当前位置的相对距离，并将相对距离小于或等于指定的距离阈值的可停车位确定为候选可停车位。
举例来说，假设缓存中有可停车位A，其位置相对于汽车的当前位置的相对距离为2米；可停车位B，其位置相对于汽车的当前位置的相对距离为5米；可停车位C，其位置相对于汽车的当前位置的相对距离为10米。若指定的距离阈值为5米，则车载控制系统将可停车位A以及可停车位B确定为候选可停车位。
作为另一种可选的实施方式，车载控制系统可以从缓存中获取预置数量的可停车位作为候选可停车位。其中，预置的数量可以是车载控制系统默认设置的也可以是用户手动输入设置的。
实施上述两种方法，车载控制系统可以在屏幕有限的显示区域中显示有使用价值且被用户选择几率高的可停车位。使得屏幕显示出来的供给用户选择的车位更加合理。
作为另一种可选的实施方式，车载控制系统可以将用户已经错过，但汽车已经识别到的可停车位在车载显示装置中隐藏掉；但之后用户随时可以通过滑动屏幕以使该可停车位重新显示出来。实施上述方法，若用户驾车驶过了某一车位后仍想停入该车位，只需在车载显示装置中重新将该车位显示出来并选择该车位，车载控制系统就可以根据选择指令自动控制汽车停入该车位。
104、车载控制系统接收对候选可停车位的选择指令，以确定出目标停车位。
本发明实施例中，车载控制系统可以在车载显示装置中显示用于表征候选可停车位的电子图标；当接收到对任一个电子图标的选择指令时，将被选中的电子图标所对应的候选可停车位作为目标停车位。
其中，上述的车载显示装置示意图可以如图10所示，其中，禁止符号表示该区域不可以停车或者已经有汽车停入。
105、车载控制系统控制汽车停入目标停车位的位置。
本发明实施例中，车载控制系统可以根据用户手动在屏幕中的选择结果或者识别用户的语音指令来获取目标停车位，并根据汽车与可停车位的相对位置由车载控制系统生成的参考行驶轨迹，在检测到“开始泊车”指令时，控制汽车以预置的速度按照参考行驶轨迹停入目标停车位的位置。
其中，图1所描述的方法，车载控制系统可以检测汽车周围的可达区域中的可停车位；再将检测到的多个可停车位储存至缓存中，并确定至少一个使用价值高的可停车位供用户选择；让用户可以根据自己的意愿来选择自己中意的停车位，使得自动泊车的过程更加智能化。
实施例二
请参阅图2，图2是本发明实施例公开的另一种基于多车位检测的自动泊车方法的流程示意图。如图2所示，该车载控制系统的控制方法可以包括以下步骤。
201-203；其中，步骤201-步骤203与实施例一中的步骤101-步骤103相同，在此不再赘述。
204、车载控制系统根据汽车的当前位置以及候选可停车位的位置确定汽车与候选可停车位的相对位置。
作为一种可选的实施方式，车载控制系统根据汽车的当前位置以及候选可停车位的位置确定汽车与候选可停车位的相对位置的方式可以是：车载控制系统可以通过其内置的GPS模块获取汽车与候选可停车位的位置坐标，该位置坐标基于世界坐标进行表示，由于该世界坐标的参照物为地球，所以该世界坐标是固定不变的。车载控制系统可以根据汽车与候选可停车位的位置坐标转换出汽车与候选可停车位的相对位置。
下面结合图11进行具体说明。其中，如图11(1)所示，车载控制系统可以为每个停车场或停车 区域设置一个原点，然后根据该停车场或停车区域的原点生成全局虚拟坐标系，再通过内置的GPS模块获取汽车与可停车位的全局位置坐标；其中，汽车的全局位置坐标可以表示为(x，y，θ)，θ表示汽车的中轴线相对于虚拟坐标x轴的角度、可停车位的全局位置坐标可以表示为(x2，y2，θ2，type2)，θ2表示可停车位的中轴线相对于虚拟坐标x轴的角度，type2表示可停车位的类型。
根据图11(2)，车载控制系统可以根据汽车的中心生成以汽车中心为原点的局部虚拟坐标系，此时默认汽车在局部虚拟坐标系中的位置坐标为(0，0，θ)，再根据汽车以及可停车位在全局虚拟坐标系中的全局位置坐标，可以计算出可停车位在局部虚拟坐标系中的位置坐标，进而实现将全局坐标变换为可停车位相对汽车的坐标，之后车载控制系统可以根据汽车的实时全局位置以及以上的变换关系，获得可停车位与汽车的实时相对位置。
205、车载控制系统在车载显示装置中的固定位置显示汽车的电子图标，以及根据汽车与候选可停车位的相对位置，在车载显示装置中显示候选可停车位的电子图标。
作为一种可选的实施方式，汽车的车载显示装置中还可以设置有“刷新”虚拟按键，用于当用户对车载控制系统在车载显示装置显示的候选可停车不满意时，可以通过点击“刷新”按键让车载控制系统检测到刷新指令，让车载控制系统从缓存中重新获取若干可停车位作为候选可停车位并显示在车载显示装置中，其中，重新获取的可停车位不包括已经在车载显示装置中显示的可停车位。
实施上述方法，车载控制系统可以在检测到用户的“刷新”指令时刷新车载显示装置上显示的候选可停车位，提供更多的车位给用户选择，提高了用户的使用体验。
作为另一种可选的实施方式，汽车的电子图标以及候选可停车位的电子图标可以在车载控制系统检测到用户在车载显示装置上对其点击时突出显示，比如，图标边框亮度提高、图标颜色变化等。
实施上述方法，可以提高用户在车载显示装置上操作时的操作手感，进而提高了用户的使用体验。
206、车载控制系统接收对任一个电子图标的选择指令，并将被选中的电子图标所对应的候选可停车位作为目标停车位。
本发明实施例中，用户可以通过点击车载显示装置的触控屏对电子图标进行选择。
作为一种可选的实施方式，车载控制系统可以内置有语音控制模块，该语音控制模块可以用于识别用户选择车位的语音指令，其所能识别的语音指令可以包括：屏幕中编号第X号的可停车位、屏幕上方从右数倒数第二个可停车位等，本发明实施例不作限定。
实施上述方法，用户通过语音指令来控制车载控制系统选择可停车位，减少了用户手部的操作步骤，而且用户还可以双手握方向盘去驾驶汽车。即提高了用户的使用体验，也保护了用户的安全。
作为另一种可选的实施方式，车载控制系统的语音控制模块还可以内置有声纹库，用户可以将驾驶员的声音提前录入语音控制模块的声纹库中，之后语音控制模块只识别声纹库中已存储的声音的语音指令。
实施上述方法，通过录入驾驶员的声音，让语音控制模块只识别驾驶员的声音，进而避免了其他人的说话声音或杂音影响了语音控制模块的识别效率，提高了车载控制系统的处理速度；也避免了除驾驶员之外的其他用户无意的语音指令，让汽车停入了用户不想停入的车位。
207；其中，步骤207与实施例一中的步骤105相同，在此不再赘述。
其中，图2所描述的方法，与图1所描述的方法相比较，还可以将候选可停车位可以电子图标的方式显示出来以供用户选择，为用户提供视觉参考，以辅助车辆驾驶员将泊车界面中显示的可泊区域与实际的可泊区域建立映射关系，进而提高了驾驶员的泊车体验。
实施例三
请参阅图3，图3是本发明实施例公开的另一种基于多车位检测的自动泊车方法的流程示意图。如图3所示，该车载控制系统的控制方法可以包括以下步骤。
301-303；其中，步骤301-步骤303与实施例一中的步骤101-步骤103相同，在此不再赘述，且执行完步骤303后可以执行步骤304或者执行步骤305。
304；其中，步骤304与实施例一中的步骤104相同，在此不再赘述，且执行完步骤304之后直接执行步骤309。
305、车载控制系统在车载显示装置中显示用于表征候选可停车位的电子图标。
306、当未检测到电子图标的选择指令时，车载控制系统根据汽车的当前位置检测汽车当前所处的停车场。
作为一种可选的实施方式，当未检测到车位选择指令时，车载控制系统可以根据汽车与屏幕显示的候选可停车位的相对位置，确定出距离汽车的当前位置最近的候选可停车位作为目标停车位。
实施上述方法，可以在未检测到车位选择指令时，确定出可以让汽车快速泊入的目标停车位，节省了泊车时间，提高了用户的使用体验。
307、车载控制系统获取停车场的编号并根据停车场的编号获取用户感兴趣的停车位的车位编号。
本发明实施例中，车载控制系统获取停车场编号的方式可以是：车载控制系统获取车辆全局位置坐标(x，y，θ)以及GPS与预先存储的停车场编号(即停车场ID)之间的对应关系列表1，并根据车辆全局位置坐标从关系列表1中获取停车场ID；基于查询到的停车场ID，调用该停车场的车位位置与车位编号(即车位ID)之间的对应关系列表2，进而从关系列表2得到该停车场中的每一个车位的编号。
作为一种可选的实施方式，本发明实施例中用户感兴趣的停车位可以是车载控制系统通过该停车场的编号访问用户在该停车场的历史停车记录，获取的用户使用次数最多的停车位的车位编号。
308、车载控制系统检测车载显示装置显示的候选可停车位中车位编号与用户感兴趣的停车位的车位编号相同的候选可停车位，并将车位编号相同的候选可停车位确定为目标停车位。
作为一种可选的实施方式，当在车载显示装置中未检测到与用户感兴趣的停车位的车位编号相同的候选可停车位时，车载控制系统可以根据车位编号获取用户感兴趣的停车位的世界坐标，并检测缓存中的可停车位的世界坐标，将检测到的世界坐标与用户感兴趣的停车位的世界坐标相同的缓存中的可停车位确定为目标停车位。
309；其中，步骤309与实施例一中的步骤105相同，在此不再赘述。
其中，图3所描述的方法，与图1所描述的方法相比较，还可以在未检测到可停车位的选择指令时，根据预置的计算规则确定出目标停车位。使得自动泊车的过程更加智能化，进一步提高了用户的使用体验。
实施例四
请参阅图4，图4是本发明实施例公开的一种车载控制系统的结构示意图。如图4所示，该车载控制系统可以包括：
第一检测单元401，用于检测汽车周围的可达区域，并在可达区域中检测可停车位；
存储单元402，用于获取上述可停车位的位置并将可停车位的位置存储到缓存中；
第一确定单元403，用于确定至少一个可停车位作为候选可停车位；
第二确定单元404，用于接收对候选可停车位的选择指令，以确定出目标停车位；
控制单元405，用于在第二确定单元404确定出目标停车位后，控制汽车停入目标停车位的位置。
作为一种可选的实施方式，第一检测单元401可以内置有全球定位系统(Global Positioning  System，GPS)模块或者雷达，用于获取汽车当前位置周围的图像。
作为另一种可选的实施方式，第一检测单元401还可以内置有速度检测模块，用于检测汽车的行驶速度是否已经降到预置的速度以下。
作为另一种可选的实施方式，第一检测单元401还可以用于当用户驾车行驶到导航系统指示的目的地附近时自动开始启动检测模块以检测汽车周围的可达区域，并在可达区域中检测可停车位。
作为一种可选的实施方式，存储单元402可以用于将用户经常使用的停车地点的位置单独存储起来。
作为一种可选的实施方式，控制单元405可以内置有生成模块，用于根据汽车的当前位置以及目标可停车位的位置生成参考行驶轨迹。
其中，图4所描述的车载控制系统可以检测汽车周围的可达区域中的可停车位；再将检测到的多个可停车位储存至缓存中，并确定至少一个使用价值高的可停车位供用户选择；让用户可以根据自己的意愿来选择自己中意的停车位，使得自动泊车的过程更加智能化。
实施例五
请参阅图5，图5是本发明实施例公开的另一种车载控制系统的结构示意图。其中，图5所示的车载控制系统是由图4所示的车载控制系统进行优化得到的。与图4所示的车载控制系统相比较，图5所示的车载控制系统中的第一确定单元403具体用于确定缓存中的可停车位的位置相对于汽车的当前位置的相对距离，并将相对距离小于或等于指定的距离阈值的可停车位确定为候选可停车位；或者，从缓存中获取预置数量的可停车位作为候选可停车位；
以及，图5所示的车载控制系统中的第二确定单元404可以包括：
显示子单元4041，用于在车载显示装置中显示用于表征候选可停车位的电子图标；
确定子单元4042，用于接收对任一个电子图标的选择指令，并将被选中的电子图标所对应的候选可停车位作为目标停车位；
以及，显示子单元4041具体用于根据汽车的当前位置以及候选可停车位的位置确定汽车与候选可停车位的相对位置；以及，在车载显示装置中的固定位置显示汽车的电子图标，以及根据汽车与候选可停车位的相对位置，在车载显示装置中显示候选可停车位的电子图标。
作为一种可选的实施方式，显示子单元4041可以内置有GPS模块，用于获取汽车与候选可停车位的世界坐标。
作为另一种可选的实施方式，显示子单元4041还可以用于当用户对车载控制系统在车载显示装置显示的候选可停车不满意时，让车载控制系统从缓存中重新获取若干可停车位作为候选可停车位并显示在车载显示装置中，其中，重新获取的可停车位不包括已经在车载显示装置中显示的可停车位。
作为另一种可选的实施方式，显示子单元4041可以内置有屏幕背光灯调节模块，用于调节车载显示装置中显示的电子图标边框的亮度或颜色。可以让汽车的电子图标以及候选可停车位的电子图标在车载控制系统检测到用户在车载显示装置上对其进行点击时突出显示，提高用户在车载显示装置上操作时的操作手感，进而提高了用户的使用体验。
作为一种可选的实施方式，确定子单元4042可以内置有语音控制模块，用于识别用户选择车位的语音指令；相应的，该语音控制模块还可以内置有声纹库，用于录入驾驶员的声音。
其中，内置了语音控制模块可以减少了用户手部的操作步骤，而且用户还可以双手握方向盘去驾驶汽车，即提高了用户的使用体验，也保护了用户的安全。而内置声纹库可以避免了其他人的说话声音或杂音影响了语音控制模块的识别，提高了车载控制系统的处理速度，也避免了除驾驶员之外的其他用 户无意的语音指令，让汽车停入了用户不想停入的车位。
其中，图5所描述的车载控制系统相比于图4所示的车载控制系统，还可以将候选可停车位可以电子图标的方式显示出来以供用户选择，为用户(例如驾驶员)提供视觉参考，以辅助车辆驾驶员将泊车界面中显示的可泊区域与实际的可泊区域建立映射关系，进而提高了驾驶员的泊车体验。
实施例六
请参阅图6，图6是本发明实施例公开的另一种车载控制系统的结构示意图。其中，图6所示的车载控制系统是由图5所示的车载控制系统进行优化得到的。与图5所示的车载控制系统相比较，图6所示的车载控制系统可以还包括：
检测单元406，用于在未接收到电子图标的选择指令时，根据汽车的当前位置检测汽车当前所处的停车场；
获取单元407，用于获取停车场的编号并根据停车场的编号获取用户感兴趣的停车位的车位编号；
第三确定单元408，用于检测车载显示装置显示的候选可停车位中车位编号与用户感兴趣的停车位的车位编号相同的候选可停车位，并将车位编号相同的候选可停车位确定为目标停车位；
第四确定单元409，用于在未接收到电子图标的选择指令时，根据汽车与候选可停车位的相对位置，确定出距离汽车的当前位置最近的候选可停车位作为目标停车位。
作为一种可选的实施方式，第二检测单元407可以内置有记录模块，用于记录停车场的编号以及车位编号。
作为一种可选的实施方式，第三检测单元409可以内置有GPS模块，用于获取用户感兴趣的停车位的世界坐标以及缓存中的可停车位的世界坐标。
其中，图6所描述的车载控制系统与图5所描述的车载控制系统相比较，还可以在未检测到可停车位的选择指令时，根据预置的计算规则确定出目标停车位。使得自动泊车的过程更加智能化，进一步提高了用户的使用体验。
实施例七
请参阅图7，图7是本发明实施例公开的另一种车载控制系统的结构示意图。如图7所示，该车载控制系统可以包括：
存储有可执行程序代码的存储器701；
与存储器701耦合的处理器702；
其中，处理器702调用存储器701中存储的可执行程序代码，执行图1～图3任意一种基于多车位检测的自动泊车方法。
本发明实施例公开一种计算机可读存储介质，其存储计算机程序，其中，该计算机程序使得计算机执行图1～图3任意一种基于多车位检测的自动泊车方法。
本发明实施例还公开一种应用发布平台，其中，应用发布平台用于发布计算机程序产品，其中，当计算机程序产品在计算机上运行时，使得计算机执行如以上各方法实施例中的方法的部分或全部步骤。
在本发明的各种实施例中，应理解，上述各过程的序号的大小并不意味着执行顺序的必然先后，各过程的执行顺序应以其功能和内在逻辑确定，而不应对本发明实施例的实施过程构成任何限定。
上述作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物单元，即可位于一个地方，或者也可以分布到多个网络单元上。可根据实际的需要 选择其中的部分或全部单元来实现本实施例方案的目的。
另外，在本发明各实施例中的各功能单元可以集成在一个处理单元中，也可以是各个单元单独物理存在，也可以两个或两个以上单元集成在一个单元中。上述集成的单元既可以采用硬件的形式实现，也可以采用软件功能单元的形式实现。
上述集成的单元若以软件功能单元的形式实现并作为独立的产品销售或使用时，可以存储在一个计算机可获取的存储器中。基于这样的理解，本发明的技术方案本质上或者说对现有技术做出贡献的部分或者该技术方案的全部或者部分，可以以软件产品的形式体现出来，该计算机软件产品存储在一个存储器中，包括若干请求用以使得一台计算机设备(可以为个人计算机、服务器或者网络设备等，具体可以是计算机设备中的处理器)执行本发明的各个实施例上述方法的部分或全部步骤。
本领域普通技术人员可以理解上述实施例的各种方法中的全部或部分步骤是可以通过程序来指令相关的硬件来完成，该程序可以存储于一计算机可读存储介质中，存储介质包括只读存储器(Read-Only Memory，ROM)、随机存储器(Random Access Memory，RAM)、可编程只读存储器(Programmable Read-only Memory，PROM)、可擦除可编程只读存储器(Erasable Programmable Read Only Memory，EPROM)、一次可编程只读存储器(One-time Programmable Read-Only Memory，OTPROM)、电子抹除式可复写只读存储器(Electrically-Erasable Programmable Read-Only Memory，EEPROM)、只读光盘(Compact Disc Read-Only Memory，CD-ROM)或其他光盘存储器、磁盘存储器、磁带存储器、或者能够用于携带或存储数据的计算机可读的任何其他介质。
以上对本发明实施例公开的一种基于多车位检测的自动泊车方法及车载控制系统进行了详细介绍，本文中应用了具体个例对本发明的原理及实施方式进行了阐述，以上实施例的说明只是用于帮助理解本发明的方法及其核心思想；同时，对于本领域的一般技术人员，依据本发明的思想，在具体实施方式及应用范围上均会有改变之处，综上所述，本说明书内容不应理解为对本发明的限制。

Claims (12)

  1. 一种基于多车位检测的自动泊车方法，其特征在于，包括：
    检测汽车周围的可达区域，并在所述可达区域中检测可停车位；
    获取所述可停车位的位置并将所述可停车位的位置存储到缓存中，以及确定至少一个可停车位作为候选可停车位；
    接收对所述候选可停车位的选择指令，以确定出目标停车位；
    控制汽车停入所述目标停车位的位置。
  2. 根据权利要求1所述的方法，其特征在于，所述确定至少一个可停车位作为候选可停车位，包括：
    确定所述缓存中的可停车位的位置相对于汽车的当前位置的相对距离，并将所述相对距离小于或等于指定的距离阈值的可停车位确定为候选可停车位；
    或者，从所述缓存中获取预置数量的可停车位作为候选可停车位。
  3. 根据权利要求1所述的方法，其特征在于，所述接收对所述候选可停车位的选择指令，以确定出目标停车位的步骤包括：
    在车载显示装置中显示用于表征所述候选可停车位的电子图标；
    接收对所述任一个电子图标的选择指令，并将被选中的电子图标所对应的候选可停车位作为目标停车位。
  4. 根据权利要求3所述的方法，其特征在于，所述在车载显示装置中显示用于表征所述候选可停车位的电子图标，包括：
    根据所述汽车的当前位置以及所述候选可停车位的位置确定所述汽车与所述候选可停车位的相对位置；
    在所述车载显示装置中的固定位置显示所述汽车的电子图标，以及根据所述汽车与所述候选可停车位的相对位置，在所述车载显示装置中显示所述候选可停车位的电子图标。
  5. 根据权利要求3所述的方法，其特征在于，在所述车载显示装置中显示用于表征所述候选可停车位的电子图标之后，所述方法还包括：
    当未接收到所述电子图标的选择指令时，根据所述汽车的当前位置检测所述汽车当前所处的停车场；
    获取所述停车场的编号并根据所述停车场的编号获取用户感兴趣的停车位的车位编号；
    检测所述车载显示装置显示的所述候选可停车位中车位编号与用户感兴趣的停车位的车位编号相同的候选可停车位，并将所述车位编号相同的候选可停车位确定为目标停车位。
  6. 根据权利要求3所述的方法，其特征在于，在所述车载显示装置中显示用于表征所述候选可停车位的电子图标之后，所述方法还包括：
    当未接收到所述电子图标的选择指令时，根据所述汽车与所述候选可停车位的相对位置，确定出距离所述汽车的当前位置最近的候选可停车位作为目标停车位。
  7. 一种车载控制系统，其特征在于，包括：
    第一检测单元，用于检测汽车周围的可达区域，并在所述可达区域中检测可停车位；
    存储单元，用于获取所述可停车位的位置并将所述可停车位的位置存储到缓存中；
    第一确定单元，用于确定至少一个可停车位作为候选可停车位；
    第二确定单元，用于接收对所述候选可停车位的选择指令，以确定出目标停车位；
    控制单元，用于在所述第二确定单元确定出目标停车位后，控制汽车停入所述目标停车位的位置。
  8. 根据权利要求7所述的车载控制系统，其特征在于，所述第一确定单元具体用于确定所述缓存 中的可停车位的位置相对于汽车的当前位置的相对距离，并将所述相对距离小于或等于指定的距离阈值的可停车位确定为候选可停车位；或者，从所述缓存中获取预置数量的可停车位作为候选可停车位。
  9. 根据权利要求7所述的车载控制系统，其特征在于，所述第二确定单元包括：
    显示子单元，用于在车载显示装置中显示用于表征所述候选可停车位的电子图标；
    确定子单元，用于接收对所述任一个电子图标的选择指令，并将被选中的电子图标所对应的候选可停车位作为目标停车位。
  10. 根据权利要求9所述的车载控制系统，其特征在于，所述显示子单元具体用于根据所述汽车的当前位置以及所述候选可停车位的位置确定所述汽车与所述候选可停车位的相对位置；以及，在所述车载显示装置中的固定位置显示所述汽车的电子图标，以及根据所述汽车与所述候选可停车位的相对位置，在所述车载显示装置中显示所述候选可停车位的电子图标。
  11. 根据权利要求9所述的车载控制系统，其特征在于，所述车载控制系统还包括：
    检测单元，用于在未接收到所述电子图标的选择指令时，根据所述汽车的当前位置检测所述汽车当前所处的停车场；
    获取单元，用于获取所述停车场的编号并根据所述停车场的编号获取用户感兴趣的停车位的车位编号；
    第三确定单元，用于检测所述车载显示装置显示的所述候选可停车位中车位编号与用户感兴趣的停车位的车位编号相同的候选可停车位，并将所述车位编号相同的候选可停车位确定为目标停车位。
  12. 根据权利要求9所述的车载控制系统，其特征在于，所述车载控制系统还包括：
    第四确定单元，用于在未接收到所述电子图标的选择指令时，根据所述汽车与所述候选可停车位的相对位置，确定出距离所述汽车的当前位置最近的候选可停车位作为目标停车位。
PCT/CN2019/093440 2018-11-16 2019-06-28 基于多车位检测的自动泊车方法及车载控制系统 WO2020098287A1 (zh)

Priority Applications (1)

Application Number Priority Date Filing Date Title
EP19883919.3A EP3869483B1 (en) 2018-11-16 2019-06-28 Automatic parking method based on multi-parking space detection, and vehicle-mounted control system

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201811372161.8 2018-11-16
CN201811372161.8A CN109493632B (zh) 2018-11-16 2018-11-16 基于多车位检测的自动泊车方法及车载控制系统

Publications (1)

Publication Number Publication Date
WO2020098287A1 true WO2020098287A1 (zh) 2020-05-22

Family

ID=65696093

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2019/093440 WO2020098287A1 (zh) 2018-11-16 2019-06-28 基于多车位检测的自动泊车方法及车载控制系统

Country Status (3)

Country Link
EP (1) EP3869483B1 (zh)
CN (1) CN109493632B (zh)
WO (1) WO2020098287A1 (zh)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112967523A (zh) * 2021-02-02 2021-06-15 深圳市方格尔科技有限公司 一种基于物联网的泊车方法及系统
CN113288608A (zh) * 2021-05-27 2021-08-24 中国科学院心理研究所 一种电动轮椅室内自动驾驶方法
CN117290741A (zh) * 2023-11-14 2023-12-26 北京阿帕科蓝科技有限公司 车辆聚类方法、装置、计算机设备和存储介质

Families Citing this family (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109493632B (zh) * 2018-11-16 2020-10-20 广州小鹏汽车科技有限公司 基于多车位检测的自动泊车方法及车载控制系统
CN110466508B (zh) * 2019-08-16 2021-06-04 广州小鹏汽车科技有限公司 泊车控制方法、装置、存储介质及控制终端
CN112824183A (zh) * 2019-11-20 2021-05-21 华为技术有限公司 一种自动泊车交互方法及装置
CN112835350A (zh) * 2019-11-22 2021-05-25 杭州海康威视数字技术股份有限公司 一种自动停车方法、装置及系统
CN111301432B (zh) * 2020-03-03 2022-02-11 北京百度网讯科技有限公司 用于自动驾驶车辆的停车方法和装置
CN111746522B (zh) * 2020-06-29 2021-08-27 广州橙行智动汽车科技有限公司 一种泊车交互方法和装置
CN111746524A (zh) * 2020-07-01 2020-10-09 中国第一汽车股份有限公司 一种开启自动泊车的控制方法、装置及自动泊车系统
CN112289068B (zh) * 2020-09-27 2022-07-19 阿波罗智联(北京)科技有限公司 自动驾驶车辆的自动泊车方法、装置、设备和存储介质
CN112440982A (zh) * 2020-11-30 2021-03-05 奇瑞汽车股份有限公司 基于手机应用程序的遥控泊车方法和系统
CN114194181A (zh) * 2022-01-28 2022-03-18 中国第一汽车股份有限公司 自动泊车方法、装置、车辆和介质

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104908815A (zh) * 2014-03-10 2015-09-16 厦门歌乐电子企业有限公司 一种用于停车的车载装置及停车方法
CN105225519A (zh) * 2014-06-28 2016-01-06 大众汽车有限公司 定向停车可用信息的可视化系统
CN106683485A (zh) * 2017-03-22 2017-05-17 盐城工学院 车位推荐方法及系统
US20170341640A1 (en) * 2016-05-27 2017-11-30 Hon Hai Precision Industry Co., Ltd. Intelligent parking system
CN107609067A (zh) * 2017-08-30 2018-01-19 重庆电子工程职业学院 基于大数据的智慧停车车位推荐方法和系统
CN109493632A (zh) * 2018-11-16 2019-03-19 广州小鹏汽车科技有限公司 基于多车位检测的自动泊车方法及车载控制系统

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102007002262A1 (de) * 2007-01-16 2008-08-21 GM Global Technology Operations, Inc., Detroit Verfahren und Vorrichtung zur Unterstützung des Fahrers eines Kraftfahrzeugs beim Einparken
KR20120086140A (ko) * 2011-01-25 2012-08-02 한국전자통신연구원 맞춤 자동 주차 서비스를 제공하기 위한 단말과 장치 및 그 방법
JP2017140890A (ja) * 2016-02-09 2017-08-17 ソニー株式会社 情報処理装置、情報処理方法、及び、プログラム
CN108885825B (zh) * 2016-04-01 2022-06-14 三菱电机株式会社 自动泊车系统、自动泊车控制装置及自动泊车控制方法

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104908815A (zh) * 2014-03-10 2015-09-16 厦门歌乐电子企业有限公司 一种用于停车的车载装置及停车方法
CN105225519A (zh) * 2014-06-28 2016-01-06 大众汽车有限公司 定向停车可用信息的可视化系统
US20170341640A1 (en) * 2016-05-27 2017-11-30 Hon Hai Precision Industry Co., Ltd. Intelligent parking system
CN106683485A (zh) * 2017-03-22 2017-05-17 盐城工学院 车位推荐方法及系统
CN107609067A (zh) * 2017-08-30 2018-01-19 重庆电子工程职业学院 基于大数据的智慧停车车位推荐方法和系统
CN109493632A (zh) * 2018-11-16 2019-03-19 广州小鹏汽车科技有限公司 基于多车位检测的自动泊车方法及车载控制系统

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
See also references of EP3869483A4 *

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112967523A (zh) * 2021-02-02 2021-06-15 深圳市方格尔科技有限公司 一种基于物联网的泊车方法及系统
CN113288608A (zh) * 2021-05-27 2021-08-24 中国科学院心理研究所 一种电动轮椅室内自动驾驶方法
CN113288608B (zh) * 2021-05-27 2022-10-18 中国科学院心理研究所 一种电动轮椅室内自动驾驶方法
CN117290741A (zh) * 2023-11-14 2023-12-26 北京阿帕科蓝科技有限公司 车辆聚类方法、装置、计算机设备和存储介质
CN117290741B (zh) * 2023-11-14 2024-03-19 北京阿帕科蓝科技有限公司 车辆聚类方法、装置、计算机设备和存储介质

Also Published As

Publication number Publication date
EP3869483B1 (en) 2023-12-13
EP3869483A4 (en) 2021-11-10
CN109493632B (zh) 2020-10-20
CN109493632A (zh) 2019-03-19
EP3869483C0 (en) 2023-12-13
EP3869483A1 (en) 2021-08-25

Similar Documents

Publication Publication Date Title
WO2020098287A1 (zh) 基于多车位检测的自动泊车方法及车载控制系统
US12128877B2 (en) Guidance of autonomous vehicles in destination vicinities using intent signals
US11366513B2 (en) Systems and methods for user indication recognition
EP2914475B1 (en) System and method for using gestures in autonomous parking
US11275447B2 (en) System and method for gesture-based point of interest search
CN104838335B (zh) 使用凝视检测的设备的交互和管理
US20190394097A1 (en) Vehicle application store for console
US7890324B2 (en) Context-sensitive interface widgets for multi-modal dialog systems
WO2017186008A1 (zh) 服务显示方法、装置、设备和系统
US10710607B2 (en) Systems and methods for identifying first route to destination as involving less human driving of vehicle than second route to destination
JP2023503440A (ja) 対話型自動駐車方法及び機器
US20040119754A1 (en) Context-sensitive interface widgets for multi-modal dialog systems
US20130063336A1 (en) Vehicle user interface system
WO2017072956A1 (ja) 運転支援装置
CN104471353A (zh) 低注意力手势用户界面
KR102288115B1 (ko) 차량탑재 시스템을 제어하기 위한 방법 및 장치
JP6001792B2 (ja) 運転支援装置および運転支援方法
CN110517523A (zh) 停车位置记录方法、装置及存储介质
CN106643780A (zh) 一种展现导航信息的方法和装置
WO2014151054A2 (en) Systems and methods for vehicle user interface
CN109324727A (zh) 一种界面控制方法、装置、设备及存储介质
JP2016197474A (ja) 運転支援装置および運転支援方法
JP4262619B2 (ja) 情報処理装置、その制御方法及びプログラム
JP7535559B2 (ja) 移動体制御装置、移動体制御方法、及び移動体制御プログラム
WO2023240667A1 (zh) 泊车交互方法、装置、存储介质、电子设备及车辆

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 19883919

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

ENP Entry into the national phase

Ref document number: 2019883919

Country of ref document: EP

Effective date: 20210519