WO2022042699A1 - 用于车辆的泊车方法、车载泊车设备、泊车系统和车辆 - Google Patents

用于车辆的泊车方法、车载泊车设备、泊车系统和车辆 Download PDF

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Publication number
WO2022042699A1
WO2022042699A1 PCT/CN2021/115111 CN2021115111W WO2022042699A1 WO 2022042699 A1 WO2022042699 A1 WO 2022042699A1 CN 2021115111 W CN2021115111 W CN 2021115111W WO 2022042699 A1 WO2022042699 A1 WO 2022042699A1
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Prior art keywords
parking
gesture
vehicle
hap
signal
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PCT/CN2021/115111
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English (en)
French (fr)
Inventor
王仕超
高通
徐广瑞
李磊
李振宁
赵立新
蔚少春
陈宁
刘志学
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长城汽车股份有限公司
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Priority to EP21860531.9A priority Critical patent/EP4206050A4/en
Publication of WO2022042699A1 publication Critical patent/WO2022042699A1/zh

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    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/06—Automatic manoeuvring for parking
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K35/00—Instruments specially adapted for vehicles; Arrangement of instruments in or on vehicles
    • B60K35/10—Input arrangements, i.e. from user to vehicle, associated with vehicle functions or specially adapted therefor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
    • B60W10/06—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of combustion engines
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/10—Interpretation of driver requests or demands
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K2360/00—Indexing scheme associated with groups B60K35/00 or B60K37/00 relating to details of instruments or dashboards
    • B60K2360/146—Instrument input by gesture
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W2050/0001—Details of the control system
    • B60W2050/0043—Signal treatments, identification of variables or parameters, parameter estimation or state estimation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B60W2050/146—Display means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/223—Posture, e.g. hand, foot, or seat position, turned or inclined
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2552/00—Input parameters relating to infrastructure
    • B60W2552/50—Barriers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/06—Combustion engines, Gas turbines

Definitions

  • the present application relates to the technical field of vehicles, and in particular, to a parking method for a vehicle, a vehicle-mounted parking device, a parking system and a vehicle.
  • Xiaopeng G3 realizes automatic identification of parking spaces through wire-controlled identification and ground information perception, which is not suitable for the case of no parking space line.
  • the present application aims to solve at least one of the technical problems existing in the prior art.
  • an object of the present application is to propose a parking method for a vehicle, which can solve the problem of irregular parking due to no parking line, and further difficulty in driving out or parking;
  • Another object of the present application is to provide a vehicle-mounted parking device.
  • Another object of the present application is to provide a parking system including the above parking device.
  • Another object of the present application is to provide a vehicle for protecting the above-mentioned parking equipment and applying the above-mentioned parking method.
  • the present application provides a parking method for a vehicle, comprising at least the following steps:
  • S3 The vehicle recognizes the gesture parking gesture displayed by the user to start the gesture parking procedure
  • S5 The vehicle realizes automatic parking after recognizing the parking-in or parking-out gesture displayed by the user.
  • the vehicle responds accordingly, and the parking space can be parked according to the user's own wishes without identifying the parking space line, which increases the user's sense of participation and interest, and solves the problem of irregular parking due to irregularities in parking. This leads to the difficulty of driving out and in.
  • the engine start gesture is recognized to control the engine start before the vehicle recognizes the park gesture for display.
  • step S3 before step S3, it further includes:
  • Step S2 After the vehicle recognizes the parking gesture displayed by the user, the vehicle locks the user and only recognizes subsequent gestures of the user.
  • the display screen of the vehicle control center display displays a start state signal of the engine.
  • the vehicle is provided with a DVR and a HUT
  • the DVR is adapted to detect a user's gesture of starting the engine and generate a first gesture signal to start the engine
  • the HUT is adapted to receive the first gesture signal to start the engine
  • it will send the CAN signal to the TBOX.
  • the TBOX After receiving the CAN signal, the TBOX will send the second gesture signal to start the engine to the PEPS.
  • the PEPS After receiving the second gesture signal to start the engine, the PEPS will send an instruction to start the engine. engine.
  • the step S5 includes:
  • the HUT determines the state of the HAP at this time after recognizing the gesture signal of parking in or out, and optionally sends a parking in or out command to the HAP according to the state of the HAP.
  • the HUT if the HAP is not in the standby state at this time, the HUT will not send a park in or park out command to the HAP. If the HAP is in the standby state at this time, the HUT sends a park in or park out command to the HAP HAP.
  • the step S5 includes:
  • the step S5 includes:
  • S53 Perform vehicle status detection. When abnormality is detected, HAP exits the gesture parking program, and the vehicle cannot perform gesture parking; when no abnormality is detected, HAP sends a parking start or parking out signal to the BCM of the vehicle. BCM turns on double flash.
  • the step S5 includes:
  • the HAP detects the parking in or out direction area. When the conditions are not satisfied, the HAP sends a signal that the parking in or out conditions are not satisfied to the HUT. When the conditions are satisfied, the HAP starts to park in or out.
  • the step S5 includes:
  • the step S5 includes: if it is detected that the user sends a gesture of parking pause during the parking or parking process, the DVR sends the pause gesture to the HUT, and the HUT sends a signal to the HAP after recognizing the pause gesture , at this time HAP enters the pause gesture parking program mode. If it receives the user's parking or parking command again within a period of time, the HAP will continue to park in or out. If it does not get in or out within a fixed time command to automatically exit the gesture parking program.
  • the HAP sends a parking in or out completion signal to the HUT
  • the HUT controls the central control display to display the status signal of the completion of parking in or out
  • the program sends a request for P gear and pulls the handbrake to the ESP, and the ESP changes the gear to P and pulls the handbrake.
  • the in-vehicle parking system includes: a DVR, a HUT, a TBOX and a PEPS, wherein the DVR, HUT, TBOX and the PEPS are communicatively connected to each other; wherein the DVR is adapted to detect The user's gesture of starting the engine and generating the first gesture signal of starting the engine, the HUT is suitable for receiving the first gesture signal of starting the engine, and after recognizing the first gesture signal of starting the engine, it will send the CAN signal to the TBOX. After the TBOX receives the CAN signal It will send the second gesture signal to start the engine to the PEPS, and the PEPS will send an instruction to start the engine after receiving the second gesture signal to start the engine.
  • the in-vehicle parking device further includes: a HAP, which is connected in communication with the HUT and is adapted to detect a parking-in or parking-out direction area.
  • a HAP which is connected in communication with the HUT and is adapted to detect a parking-in or parking-out direction area.
  • the parking system according to the present application includes: the vehicle-mounted parking device according to any one of the above embodiments, and a Bluetooth key communicatively connected to the vehicle-mounted parking device.
  • the vehicle according to the present application includes: the vehicle-mounted parking apparatus described in the above embodiments, the vehicle-mounted parking apparatus is configured to execute the parking method described in the above-mentioned embodiments. Additional aspects and advantages of the present application will be set forth, in part, from the following description, and in part will become apparent from the following description, or may be learned by practice of the present application.
  • FIG. 1 is a flowchart of a parking method according to an embodiment of the present application.
  • the following describes a parking method for a vehicle according to an embodiment of the present application with reference to FIG. 1 , including at least the following steps:
  • S3 The vehicle recognizes the gesture parking gesture displayed by the user to start the gesture parking procedure
  • S5 The vehicle realizes automatic parking after recognizing the parking-in or parking-out gesture displayed by the user.
  • Xiaopeng G3 realizes automatic identification of parking spaces through wire-controlled recognition and ground information perception.
  • the vehicle automatically determines whether the surrounding parking spaces meet the parking conditions according to radar and sensors, but it is not suitable for the situation without parking space lines; Tesla updated software in 2019 On the basis of automatic parking, China has invented the function of remote summoning.
  • the user can summon the vehicle from the parking space to the designated place through the mobile phone. According to the development of practicality, it lacks the performance of the user's free display.
  • the present application completes parking by recognizing different gestures of the user, such as: gesture for parking, gesture for parking, gesture for parking.
  • the gesture parking gesture can make the vehicle start the gesture parking program and enter the state of preparing to recognize other gestures for parking; the parking gesture causes the vehicle to park in the designated parking space; the parking gesture causes the vehicle to drive away from the parking space. out.
  • the vehicle When the vehicle is in P gear and the handbrake is pulled up, the vehicle is released by recognizing the Bluetooth key on the user, and then starts the gesture parking program by recognizing the gesture parking gesture displayed by the user, and recognizes it again after the gesture parking program is started.
  • the gesture displayed by the user If the gesture is a parking gesture, the vehicle will park in the designated parking space after receiving the command. If the gesture is a parking gesture, the vehicle will drive out of the parking space after receiving the command.
  • the vehicle reacts accordingly, and the parking space can be parked according to the user's own wishes without recognizing the parking space line, which increases the user's sense of participation and interest, and solves the problem of inconvenience caused by parking.
  • the problem of driving out and in is difficult due to the regulation.
  • the engine start gesture is recognized to control the engine start before the vehicle recognizes the park gesture for display.
  • the engine Since the engine needs to be started first when the vehicle is parked, the engine provides driving force for the vehicle, and the engine is generally turned on when the vehicle is parked, so there is no need to consider whether the engine is turned on. Therefore, before the vehicle is parked, the engine needs to be started by a gesture of starting the engine, and then the vehicle is parked.
  • step S3 before step S3, it further includes:
  • Step S2 After the vehicle recognizes the parking gesture displayed by the user, the vehicle locks the user and only recognizes subsequent gestures of the user.
  • the user shows the gesture parking gesture
  • the vehicle recognizes the gesture parking gesture and starts the gesture parking program and locks the user who issued the gesture parking gesture command. At this time, the vehicle will only receive other gesture commands that recognize the user, ignoring other people. gesture commands.
  • the display screen of the vehicle control center display displays a start state signal of the engine.
  • the central control display shows relevant text prompts, for example: the engine has been started.
  • a DVR Digital Video Recorder, digital video recorder
  • a HUT Head Unit, multimedia host
  • the DVR is adapted to detect the user's gesture of starting the engine and generate the first engine start Gesture signal
  • the HUT is suitable for receiving the first gesture signal of starting the engine and will send a CAN signal to the TBOX (communication box) after recognizing the first gesture signal of starting the engine, and the TBOX will send the second hand to start the engine after receiving the CAN signal
  • the potential signal is sent to the PEPS (Passive Entry Passive Start, keyless system), and the PEPS will send an instruction to start the engine after receiving the second gesture signal to start the engine.
  • PEPS Passive Entry Passive Start, keyless system
  • the user shows the gesture of starting the engine at this time.
  • the gesture command of starting the engine is generated and the first gesture signal of starting the engine is sent to the HUT.
  • the HUT recognizes the first gesture signal of starting the engine through the internal algorithm as starting the engine.
  • the TBOX will send the second gesture to start the engine to the PEPS, and the PEPS will send an instruction to start the engine after receiving the second gesture signal to start the engine.
  • step S5 includes:
  • the HUT determines the state of the HAP (Fusion Parking) at this time after recognizing the hand signal for parking in or out, and optionally sends a parking or parking command to the HAP according to the state of the HAP.
  • the HAP After the HAP receives the docking or docking command, it will send a verification signal to the HUT. After the HUT returns the confirmation signal, the verification is successful for both parties; after the verification is successful, the HUT sends the docking or docking command again, and the HAP is turned on. Functional self-test.
  • the user After starting the engine, the user makes a parking gesture or a parking gesture.
  • the DVR recognizes the parking gesture or the parking gesture command, it will transmit the information to the HUT, and the HUT recognizes the parking gesture or the parking gesture through an internal algorithm.
  • the gesture command After the gesture command is sent out, the state of the HAP is judged. If the HAP meets the conditions, it will send a verification signal to the HUT. After the HUT returns the confirmation signal, the verification of both parties is successful. If the HAP does not meet the conditions, it will not respond.
  • the HUT sends the docking gesture command or the docking gesture command again, and the HAP is turned on to perform functional self-checks, such as: whether the DVR is running normally, whether the radar is normal, and so on.
  • step S51 and step S52 need to be consistent, that is to say, both S51 and step S52 must be the docking gesture or both the docking gesture.
  • both S51 and step S52 must be the docking gesture or both the docking gesture.
  • the docking gesture and the docking gesture are the same gesture.
  • the HUT if the HAP state is not in the standby state at this time, the HUT will not send a park in or park out command to the HAP, and if the HAP state is in the standby state at this time, the HUT sends a park in or park out command. to HAP.
  • the specific conditions for judging the HAP are: if the HAP is not in the standby state at this time, the HUT will not send a request to park in or out to the HAP. To HAP, HAP will send a verification signal to HUT after receiving the command. After HUT returns a confirmation signal, the verification of both parties is successful.
  • step S5 includes:
  • S53 Perform vehicle status detection. When abnormality is detected, HAP exits the gesture parking program, and the vehicle cannot perform gesture parking or parking; when no abnormality is detected, HAP sends a parking start or parking out signal to the vehicle.
  • BCM Body Control Module, body control module
  • BCM turns on double flash.
  • HAP After confirming that there is no problem with the HAP, check the vehicle status, such as whether the vehicle gear is in the P position, whether the handbrake is in the pulled state, whether the four doors have been closed, and so on.
  • HAP exits the gesture parking procedure. At this time, the vehicle no longer recognizes gestures to park or park the vehicle. If you want to continue to use the gesture parking procedure, you must display the gesture parking gesture in step S3.
  • Restart the gesture parking program when there is no abnormality in the detection, the HAP sends a command to start parking or parking to the BCM of the vehicle, and the BCM turns on the double flashing function. A signal indicating that the user is parking outside the car.
  • step S5 includes:
  • the HAP detects the parking in or out direction area. When the conditions are not satisfied, the HAP sends a signal that the parking in or out conditions are not satisfied to the HUT. When the conditions are satisfied, the HAP starts to park in or out.
  • the HAP detects the area in the direction of the in or out direction, and determines whether there are obstacles in the area in the direction of the in or out direction and whether the space for the in or out area is sufficient. Parking or parking conditions, such as: when the vehicle is parked, check whether there are obstacles in the area in front of the vehicle, and whether the space in the area in front of the vehicle is sufficient for the vehicle to park. If the conditions for parking the vehicle are met, the vehicle can be parked; when the vehicle is parked, it is detected whether there are obstacles in the area behind the vehicle and whether the space behind the vehicle is suitable for parking the vehicle. If the parking of the vehicle is satisfied, the conditions for parking of the vehicle are satisfied, and the parking of the vehicle can be performed.
  • Parking or parking conditions such as: when the vehicle is parked, check whether there are obstacles in the area in front of the vehicle, and whether the space in the area in front of the vehicle is sufficient for the vehicle to park. If the conditions for parking the vehicle are met, the vehicle can be parked; when the vehicle is parked, it is
  • step S5 includes:
  • HAP vehicle status and HAP function are continuously detected during the process of parking in or out. If one of the problems such as main control unit failure, associated system failure, personnel intervention, trunk open, door open, etc. is detected, HAP will Pause the gesture parking program and send corresponding signals to the HUT at the same time. The HUT will give a text prompt on the central control screen. If the influencing factors still exist within a certain period of time, the HAP will automatically exit the gesture parking program.
  • the HAP when an obstacle appears during the process of parking or parking, the HAP will enter the pause gesture parking program mode, and within a certain period of time, the HAP will continue to detect the status of the obstacle, such as the obstacle When the object disappears, the HAP continues to park in or out. If the obstacle still exists within a certain period of time, the HAP exits the gesture parking procedure. If you want to continue to use the gesture parking procedure, you must start with the gesture parking gesture in step S3. to restart the gesture parking program.
  • step S5 includes: if it is detected that the user sends a gesture of parking pause during the parking or parking process, the DVR sends the pause gesture to the HUT, and the HUT sends a signal to the HAP after recognizing the pause gesture, At this time, HAP enters the pause gesture parking program mode. If it receives the user's parking or parking command again within a period of time, the HAP will continue to park or park. If it does not receive the parking or parking command within a fixed period of time The gesture parking program is automatically exited.
  • the DVR sends the captured parking pause gesture command to the HUT, and the HUT recognizes the parking pause gesture and then sends it to the HAP.
  • the HAP enters the pause state.
  • the gesture parking program mode if the user's gesture command for parking in or out is received again within a certain period of time, the HAP will continue to park in or out. Then, the gesture parking procedure is automatically exited. If you want to continue to use the gesture parking procedure after exiting the gesture parking procedure, the gesture parking procedure must be restarted from step S3 showing the gesture parking gesture.
  • the HAP sends a berthing in or berthing out completion signal to the HUT, the HUT controls the central control display screen to display the status signal of the berthing in or berthing out, and the HAP exits the gesture parking
  • the car program and sends the request of P gear and the handbrake to ESP (Electrical Parking Brake, electronic parking), ESP changes the gear to P gear and pulls the handbrake.
  • ESP Electronic Parking Brake, electronic parking
  • the HAP sends a parking or parking completion signal to the HUT, and the HUT displays a text prompt on the central control display, such as: the driver is asked to take over the vehicle when the parking is completed, the vehicle has been parked, and so on.
  • HAP exits the gesture parking program and sends a request for P gear and pulling the handbrake to ESP, and ESP changes the gear to P gear and pulls the handbrake.
  • the specific process of the parking method :
  • the vehicle When the user approaches the vehicle with the Bluetooth key, the vehicle automatically disarms the vehicle after detecting the Bluetooth key, and then the HUT and DVR start up in the background. At this time, the DVR turns on the working mode to take pictures.
  • the DVR can recognize various gestures of the user. When the user stands in front of the vehicle and displays the gesture of gesture parking to start the gesture parking program, the DVR will send the captured information to the HUT, and the HUT will send a command to lock the personnel information to the DVR after receiving the information, and the DVR will send the personnel information to the DVR. locking.
  • the user shows the gesture of starting the engine in front of the car, and the DVR generates the first gesture signal of starting the engine and sends it to the HUT.
  • the HUT recognizes the command of the gesture through an internal algorithm, and then sends the CAN signal to the TBOX. After the TBOX receives the CAN signal
  • the engine second gesture signal is transmitted to the PEPS, and the PEPS sends the engine second gesture signal to start the engine.
  • the HUT receives the engine start status signal and displays a text prompt on the central control display screen. After the user receives the engine start information, the user displays the gesture of parking out or parking. After the DVR recognizes the gesture command for parking out or parking The information will be sent to the HUT, and the HUT will determine the state of the HAP at this time after identifying the information of the gesture through an internal algorithm.
  • the HAP If the HAP is in the standby state at this time, it will start the parking command to the HAP. After the HAP receives the command, it will send a verification signal to the HUT. After the HUT returns the confirmation signal, the verification is successful.
  • the HUT After the verification is successful, the HUT sends the previous parking out or parking command to the HAP again, and at the same time, the HAP enables the function self-check.
  • the HAP When there is no abnormality in the detection, the HAP sends a signal to start parking out or in to the BCM, and the BCM keeps turning on the double-flash prompt during the parking process, and then the HAP detects the area in the direction of parking out or in. When the conditions are not met, the HAP sends a signal that the parking conditions are not met to the HUT, and the HUT gives relevant text prompts. When the conditions are met, the HAP starts to park out or park in.
  • the HAP sends the parking out or parking completion signal to the HUT, and a text prompt is displayed on the central control display. Change gear to P and apply the handbrake.
  • the function switch button in the parking option is turned on, and the vehicle is in the P gear state and the EPB is pulled up at this time.
  • a vehicle according to an embodiment of the present application includes the above parking method.

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Human Computer Interaction (AREA)
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Abstract

一种用于车辆的泊车方法、车载泊车设备、泊车系统和车辆，泊车方法包括至少如下步骤：S1：控制车辆从P挡解防；S3：车辆识别用户展示出的手势泊车的手势从而启动手势泊车程序；S5：车辆识别用户展示出的泊入或泊出的手势后实现自动泊车。通过用户展示不同的特定手势，车辆做出相关反应，可以无需识别车位线按照用户的本身意愿进行停车，增加用户的参与感和趣味性，同时解决了因停车不规范而导致驶出驶入困难的问题。

Description

用于车辆的泊车方法、车载泊车设备、泊车系统和车辆
相关申请的交叉引用
本申请要求长城汽车股份有限公司于2020年8月31日提交的、发明名称为“用于车辆的泊车方法和车辆”的、中国专利申请号“202010898755.3”的优先权。
技术领域
本申请涉及车辆技术领域，尤其是涉及一种用于车辆的泊车方法、车载泊车设备、泊车系统和车辆。
背景技术
由于我国的基础建设设施的不完善导致部分公共场所无停车场，或停车场没有设置车位线，用户随意停放车辆这样会造成后停车的用户停车困难而先停车的用户开车困难的问题。目前小鹏G3通过线控识别和地面信息感知实现车位自动识别，不适用于无车位线的情况。
发明内容
本申请旨在至少解决现有技术中存在的技术问题之一。
为此，本申请的一个目的在于提出一种用于车辆的泊车方法，可以解决无停车线而导致停车不规范，进而驶出或停车困难的问题；
本申请另一个目的在于提出一种车载泊车设备。
本申请另一个目的在于提出一种包括上述泊车设备的泊车系统。
本申请另一个目的在于提出一种保护上述泊车设备以及应用上述泊车方法的车辆。
为了达到上述目的，本申请一方面提供了用于车辆的泊车方法，包括至少如下步骤：
S1：控制车辆从P挡解防；
S3：车辆识别用户展示出的手势泊车的手势从而启动手势泊车程序；
S5：车辆识别用户展示出的泊入或泊出的手势后实现自动泊车。
本申请的泊车方法，通过用户展示不同的特定手势，车辆做出相关反应，可以无需识别车位线按照用户的本身意愿进行停车，增加用户的参与感和趣味性，同时解决了因停车不规范而导致驶出驶入困难的问题。
根据本申请的一些实施例，在车辆识别用于展示出的泊出手势前识别启动发动机的手势以控制发动机启动。
根据本申请的一些实施例，在步骤S3前还包括：
步骤S2：车辆识别用户展示出的手势泊车的手势后将该用户锁定并仅识别该用户的后续手势。
根据本申请的一些实施例，在发动机启动后，车辆控制中控显示屏显示发动机的启动状态信号。
根据本申请的一些实施例，所述车辆上设置有DVR和HUT，所述DVR适于检测用户启动发动机的手势并生成启动发动机第一手势信号，所述HUT适于接收启动发动机第一手势信号并识别到启动发动机第一手势信号后会发送CAN信号给TBOX，TBOX收到CAN信号后会发送启动发动机第二手势信号给PEPS，PEPS接收到启动发动机第二手势信号后会发送指令启动发动机。
根据本申请的一些实施例，所述步骤S5包括：
S51：HUT识别泊入或泊出的手势信号后判断此时HAP的状态，并根据HAP的状态可选择地向所述HAP发送泊入或泊出命令。
根据本申请的一些实施例，如果HAP此时状态不是待机状态，则HUT不会发送泊入或泊出命令给HAP，如果HAP此时状态为待机状态，则HUT发送泊入或泊出命令给HAP。
根据本申请的一些实施例，所述步骤S5包括：
S52：在HAP接收到泊入或泊出命令后会进行发送校验信号给HUT，HUT返回确认信号后双方校验成功；校验成功后，HUT再次发送泊入或泊出信号，HAP开启进行功能自检。
根据本申请的一些实施例，所述步骤S5包括：
S53：进行车辆状态检测，当检测到有异常时，HAP退出手势泊车程序，车辆无法进行手势泊车；当检测无异常时，此时HAP发送开始泊入或泊出信号给车辆的BCM，BCM开启双闪。
根据本申请的一些实施例，所述步骤S5包括：
S54：HAP进行泊入或泊出方向区域的检测，当条件不满足时，HAP发送泊入或泊出条件不满足的信号给HUT，当条件满足时，HAP开始进行泊入或泊出。
根据本申请的一些实施例，所述步骤S5包括：
S55：当泊车过程中出现障碍物时，HAP会进入暂停手势泊车程序模式，在一定的时间内，HAP会持续检测障碍物的状态，如障碍物消失，则HAP继续进行自动泊入或泊出，如果在一定时间内，障碍物仍然存在则HAP退出手势泊车程序。
根据本申请的一些实施例，所述步骤S5包括：泊入或泊出过程中如果检测到用户发送暂停泊车的手势，DVR将暂停手势发给HUT，HUT识别到暂停手势后向HAP发送信号，此时HAP进入暂停手势泊车程序模式，一段时间内如果再次接到用户泊入或泊出命令，则HAP继 续进行泊入或泊出，如果在固定的时间内未得到泊入或泊出命令则自动退出手势泊车程序。
根据本申请的一些实施例，泊入或泊出完成后，HAP发送泊入或泊出完成信号给HUT，HUT控制中控显示屏显示泊入或泊出完成的状态信号，HAP退出手势泊车程序并发送P档和拉起手刹的请求给ESP，ESP将档位变成P档并拉起手刹。
本申请另一方面提供了一种车载泊车设备，车载泊车系统包括：DVR、HUT、TBOX和PEPS，所述DVR、HUT、TBOX与所述PEPS彼此通讯连接；其中所述DVR适于检测用户启动发动机的手势并生成启动发动机第一手势信号，所述HUT适于接收启动发动机第一手势信号并在识别到启动发动机第一手势信号后会发送CAN信号给TBOX，TBOX收到CAN信号后会发送启动发动机第二手势信号给PEPS，PEPS接收到启动发动机第二手势信号后会发送指令启动发动机。
根据本申请的一个实施例，车载泊车设备还包括：HAP，所述HAP与所述HUT通讯连接且适于对泊入或泊出方向区域进行检测。
根据本申请的泊车系统包括：上述实施例中任意一项所述的车载泊车设备，及与所述车载泊车设备通信连接的蓝牙钥匙。
根据本申请的车辆包括：上述实施例所述的车载泊车设备，所述车载泊车设备用于执行如上述实施例所述的泊车方法。本申请的附加方面和优点将在下面的描述中部分给出，部分将从下面的描述中变得明显，或通过本申请的实践了解到。
附图说明
图1是根据本申请实施例中泊车方法的流程图。
具体实施方式
下面详细描述本申请的实施例，所述实施例的示例在附图中示出，其中自始至终相同或类似的标号表示相同或类似的元件或具有相同或类似功能的元件。下面通过参考附图描述的实施例是示例性的，仅用于解释本申请，而不能理解为对本申请的限制。
下面参考图1描述根据本申请实施例的用于车辆的泊车方法，包括至少如下步骤：
S1：控制车辆从P挡解防；
S3：车辆识别用户展示出的手势泊车的手势从而启动手势泊车程序；
S5：车辆识别用户展示出的泊入或泊出的手势后实现自动泊车。
目前小鹏G3通过线控识别和地面信息感知实现车位自动识别，车辆根据雷达和传感器自动判断周围车位是否满足泊车的条件，但不适用于无车位线的情况；Tesla在2019年更新的软件中在自动泊车的基础上又发明了远程召唤的功能，用户可以通过手机将车辆从车 位召唤到自己指定地点，根据实用性开发而缺少了用户自由展示的性能。
本申请通过识别用户的不同手势动作从而完成泊车，例如：手势泊车的手势、泊入的手势、泊出的手势。其中的手势泊车的手势可以使车辆启动手势泊车程序，进入准备识别其他手势进行泊车的状态；泊入的手势使车辆停入指定停车位内；泊出的手势使车辆从停车位开出。
在车辆P档且手刹拉起的状态下，车辆通过识别用户身上的蓝牙钥匙解防，然后通过识别用户展示出的手势泊车的手势启动手势泊车程序，在手势泊车程序启动后再次识别用户展示出的手势，若手势为泊入的手势，车辆收到命令后停入指定停车位内，若手势为泊出的手势，车辆收到命令后从停车位开出。
根据本申请的泊车方法，通过用户展示不同的特定手势，车辆做出相关反应，可以无需识别车位线按照用户的本身意愿进行停车，增加用户的参与感和趣味性，同时解决了因停车不规范而导致驶出驶入困难的问题。
根据本申请的一个实施例中，在车辆识别用于展示出的泊出手势前识别启动发动机的手势以控制发动机启动。
由于车辆在泊出时需要先启动发动机，发动机为车辆提供驱动力，而车辆泊入时发动机一般为开启状态，因此不需要考虑发动机是否为开启状态的问题。因此在车辆泊出前需要先通过启动发动机的手势启动发动机，再进行车辆泊出。
根据本申请的一个实施例中，在步骤S3前还包括：
步骤S2：车辆识别用户展示出的手势泊车的手势后将该用户锁定并仅识别该用户的后续手势。
用户展示手势泊车的手势，车辆识别手势泊车的手势后启动手势泊车程序并锁定发出手势泊车的手势命令的用户，此时车辆只会接收识别此用户的其他手势命令，忽略其他人员的手势命令。
根据本申请的一个实施例中，在发动机启动后，车辆控制中控显示屏显示发动机的启动状态信号。中控显示屏显示相关文字提示，例如：发动机已启动。
根据本申请的一个实施例中，车辆上设置有DVR(Digital Video Recorder，数字视频录像机)和HUT(Head Unit，多媒体主机)，所述DVR适于检测用户启动发动机的手势并生成启动发动机第一手势信号，所述HUT适于接收启动发动机第一手势信号并在识别到启动发动机第一手势信号后会发送CAN信号给TBOX(通讯盒)，TBOX收到CAN信号后会发送启动发动机第二手势信号给PEPS(Passive Entry Passive Start，无钥匙系统)，PEPS接收到启动发动机第二手势信号后会发送指令启动发动机。
用户此时展示出启动发动机的手势，DVR摄像记录启动发动机的手势后，将启动发动机 的手势命令生成启动发动机第一手势信号发送至HUT，HUT通过内部算法识别启动发动机第一手势信号为启动发动机的命令，然后发送CAN信号给TBOX，TBOX收到CAN信号后会发送启动发动机第二手势给PEPS，PEPS接收到启动发动机第二手势信号后会发送指令启动发动机。
根据本申请的一个实施例中，步骤S5包括：
S51：HUT识别泊入或泊出的手势信号后判断此时HAP(融合泊车)的状态，并根据HAP的状态可选择地向HAP发送泊入或泊出命令。
S52：在HAP接收到泊入或泊出命令后会进行发送校验信号给HUT，HUT返回确认信号后双方校验成功；校验成功后，HUT再次发送泊入或泊出命令，HAP开启进行功能自检。
在启动发动机后，用户做出泊入的手势或泊出的手势，DVR识别到泊入的手势或泊出的手势命令后会将信息传给HUT，HUT通过内部算法识别泊入的手势或泊出的手势命令后判断此时HAP的状态，若HAP满足条件时会发送校验信号给HUT，HUT返回确认信号后双方校验成功，若HAP不满足条件时，不做出反应。
在校验成功后，HUT再次发送泊入的手势命令或泊出的手势命令，HAP开启进行功能自检，例如：DVR是否正常运行，雷达是否正常等等。
需要注意的是，由于用户做出的泊入的手势和泊出的手势可以不同，因此步骤S51和步骤S52中需要手势一致，也就是说S51和步骤S52必须都为泊入的手势或者都为泊出的手势；当然，也包括泊入的手势和泊出的手势为同一个手势的情况。
根据本申请的一个实施例中，如果HAP此时状态不是待机状态，则HUT不会发送泊入或泊出命令给HAP，如果HAP此时状态为待机状态，则HUT发送泊入或泊出命令给HAP。
判断HAP具体满足的条件为：如果HAP此时状态不是待机状态，则HUT不会发送泊入或泊出的请求给HAP，如果HAP此时状态为待机状态，则发送泊入或泊出的命令给HAP，HAP接收到命令后会发送校验信号给HUT，HUT返回确认信号后双方校验成功。
根据本申请的一个实施例中，步骤S5包括：
S53：进行车辆状态检测，当检测到有异常时，HAP退出手势泊车程序，车辆无法进行手势泊入或泊出；当检测无异常时，此时HAP发送开始泊入或泊出信号给车辆的BCM(Body Control Module，车身控制模块)，BCM开启双闪。
在确认HAP无问题后进行车辆状态检测，例如：车辆档位是否为P档，手刹是否为拉起状态，四门是否已经关闭好等等。当检测有异常时，HAP退出手势泊车程序，此时车辆不再识别手势进行车辆的泊入或泊出，若想继续使用手势泊车程序，必须从步骤S3展示手势泊车的手势开始，重新启动手势泊车程序；当检测无异常时，此时HAP发送开始泊入或泊出的命令给车辆的BCM，BCM开启双闪，在车辆泊车过程中双闪功能持续开启，这样可以给车 外用户正在泊车的信号提示。
根据本申请的一个实施例中，步骤S5包括：
S54：HAP进行泊入或泊出方向区域的检测，当条件不满足时，HAP发送泊入或泊出条件不满足的信号给HUT，当条件满足时，HAP开始进行泊入或泊出。
在开启双闪做好泊入或泊出准备后，HAP对泊入或泊出方向区域进行检测，判断泊入或泊出方向区域内是否存在障碍物且泊入或泊出的区域空间是否满足泊入或泊出条件，例如：车辆泊出时，检测车辆前方区域是否有障碍物，车辆前方区域空间是否满足车辆泊出，若车辆前方区域无障碍物且车辆前方区域空间满足车辆泊出，则满足车辆泊出的条件，可以进行车辆泊出；车辆泊入时，检测车辆后方区域是否有障碍物，车辆后方区域空间是否满足车辆泊入，若车辆后方区域无障碍物且车辆后方区域空间满足车辆泊入，则满足车辆泊入的条件，可以进行车辆泊入。
根据本申请的一个实施例中，步骤S5包括：
S55：当泊入或泊出过程中出现障碍物时，HAP会进入暂停手势泊车程序模式，在一定的时间内，HAP会持续检测障碍物的状态，如障碍物消失，则HAP继续进行自动泊入或泊出，如果在一定时间内，障碍物仍然存在则HAP退出手势泊车程序。
在泊入或泊出过程中对车辆状态和HAP功能持续检测，若检测到主控单元故障、关联系统故障、人员干预、后背箱处于打开状态、车门处于打开状态等其中一个问题，HAP会暂停手势泊车程序并同时发送相应的信号给HUT，HUT会在中控屏幕进行文字提示，如果在一定时间内，影响因素仍然存在则HAP会自动退出手势泊车程序。
在本申请的一个实施例中，在泊入或泊出的过程中出现障碍物时，HAP会进入暂停手势泊车程序模式，在一定的时间内，HAP会持续检测障碍物的状态，如障碍物消失，HAP继续进行泊入或泊出，如果在一定时间内，障碍物仍然存在，HAP退出手势泊车程序，若想继续使用手势泊车程序，必须从步骤S3展示手势泊车的手势开始，重新启动手势泊车程序。
根据本申请的一个实施例中，步骤S5包括：泊入或泊出过程中如果检测到用户发送暂停泊车的手势，DVR将暂停手势发给HUT，HUT识别到暂停手势后向HAP发送信号，此时HAP进入暂停手势泊车程序模式，一段时间内如果再次接到用户泊入或泊出命令，则HAP继续进行泊入或泊出，如果在固定的时间内未得到泊入或泊出命令则自动退出手势泊车程序。
泊入或泊出过程中如果用户发送暂停泊车的手势，DVR将拍摄到的暂停泊车的手势命令发给HUT，HUT识别到暂停泊车的手势后再发送给HAP，此时HAP进入暂停手势泊车程序模式，一段时间内如果再次接到用户泊入或泊出的手势命令，则HAP继续进行泊入或泊出，如果在一定时间内没有收到继续泊入或泊出的请求，则自动退出手势泊车程序，在退出手势泊车程序后若想继续使用手势泊车程序，必须从步骤S3展示手势泊车的手势开始，重新 启动手势泊车程序。
根据本申请的一个实施例中，泊入或泊出完成后，HAP发送泊入或泊出完成信号给HUT，HUT控制中控显示屏显示泊入或泊出完成的状态信号，HAP退出手势泊车程序并发送P档和拉起手刹的请求给ESP(Electrical Parking Brake，电子驻车)，ESP将档位变成P档并拉起手刹。
泊入或泊出完成后，HAP发送泊入或泊出完成信号给HUT，HUT在中控显示屏进行文字提示，例如：泊出完成请驾驶员接管车辆，车辆已泊入等等。同时，HAP退出手势泊车程序并发送P档和拉起手刹的请求给ESP，ESP将档位变成P档并拉起手刹。
根据本申请的一个实施例中，泊车方法具体流程：
用户携带蓝牙钥匙靠近车辆，车辆在检测到蓝牙钥匙后自动将车辆解防，随之HUT和DVR进行后台启动，此时DVR开启工作模式进行拍照工作，DVR可以识别用户的各种不同手势，此时用户站在车辆前展示手势泊车的手势启动手势泊车程序，DVR会将拍摄到的信息发送至HUT，HUT接收到信息后会发送锁定人员信息的命令给DVR，此时DVR会将人员锁定。
用户在车前展示启动发动机的手势，DVR将启动发动机的手势生成启动发动机第一手势信号发送至HUT，HUT通过内部算法识别该手势的命令，然后发送CAN信号给TBOX，TBOX收到CAN信号后将发动机第二手势信号传递给PEPS，PEPS发送发动机第二手势信号启动发动机。
发动机启动后，HUT接收到发动机启动状态信号并在中控显示屏进行文字提示，用户收到发动机启动的信息后展示泊出或泊入的手势，DVR识别到泊出或泊入的手势命令后会将信息传给HUT，HUT通过内部算法识别该手势的信息后判断此时HAP的状态。
如果HAP此时状态为待机状态则发动泊车的命令给HAP，HAP接收到命令后会进行发送校验信号给HUT，HUT返回确认信号后双方校验成功。
校验成功后，HUT将之前的泊出或泊入命令再次发送给HAP，同时HAP开启功能自检，当HAP功能自检无问题后，进行车辆状态检测。
当检测无异常时，HAP发送开始泊出或泊入的信号给BCM，BCM在泊车过程中持续开启双闪提示，然后HAP对泊出或泊入方向区域进行检测。当条件不满足时，HAP发送泊车条件不满足的信号给HUT，HUT进行相关文字提示，当条件满足时，HAP开始进行泊出或泊入。
泊出或泊入完成后，HAP发送泊出或泊入完成信号给HUT，通过中控显示屏中进行文字提示，HAP退出手势泊车程序并发送P档和拉起手刹的请求给ESP，ESP将档位变成P档并拉起手刹。
在本申请的一些实施例中，为了保证用户使用手势泊车程序的安全性，将其设置在车辆控制中心的自动泊车选项中，在使用本申请的泊车方法前，需要将设置在自动泊车选项中 的功能开关按钮开启，且满足车辆此时处于P档状态、EPB拉起状态。
根据本申请实施例中的一种车辆，包括上述的泊车方法。
在本说明书的描述中，参考术语“一个实施例”、“一些实施例”、“示意性实施例”、“示例”、“具体示例”、或“一些示例”等的描述意指结合该实施例或示例描述的具体特征、结构、材料或者特点包含于本申请的至少一个实施例或示例中。在本说明书中，对上述术语的示意性表述不一定指的是相同的实施例或示例。而且，描述的具体特征、结构、材料或者特点可以在任何的一个或多个实施例或示例中以合适的方式结合。
尽管已经示出和描述了本申请的实施例，本领域的普通技术人员可以理解：在不脱离本申请的原理和宗旨的情况下可以对这些实施例进行多种变化、修改、替换和变型，本申请的范围由权利要求及其等同物限定。

Claims (17)

  1. 一种用于车辆的泊车方法，其特征在于，包括至少如下步骤：
    S1：控制车辆从P挡解防；
    S3：车辆识别用户展示出的手势泊车的手势从而启动手势泊车程序；
    S5：车辆识别用户展示出的泊入或泊出的手势后实现自动泊车。
  2. 根据权利要求1所述的用于车辆的泊车方法，其特征在于，在车辆识别用于展示出的泊出手势前识别启动发动机的手势以控制发动机启动。
  3. 根据权利要求1或2所述的用于车辆的泊车方法，其特征在于，在步骤S3前还包括：
    步骤S2：车辆识别用户展示出的手势泊车的手势后将该用户锁定并仅识别该用户的后续手势。
  4. 根据权利要求2或3所述的用于车辆的泊车方法，其特征在于，在发动机启动后，车辆控制中控显示屏显示发动机的启动状态信号。
  5. 根据权利要求2-4中任意一项所述的用于车辆的泊车方法，其特征在于，所述车辆上设置有DVR和HUT，所述DVR适于检测用户启动发动机的手势并生成启动发动机第一手势信号，所述HUT适于接收启动发动机第一手势信号并在识别到启动发动机第一手势信号后会发送CAN信号给TBOX，TBOX收到CAN信号后会发送启动发动机第二手势信号给PEPS，PEPS接收到启动发动机第二手势信号后会发送指令启动发动机。
  6. 根据权利要求5所述的用于车辆的泊车方法，其特征在于，所述步骤S5包括：
    S51：HUT识别泊入或泊出的手势信号后判断此时HAP的状态，并根据HAP的状态可选择地向所述HAP发送泊入或泊出命令。
  7. 根据权利要求6所述的用于车辆的泊车方法，其特征在于，如果HAP此时状态不是待机状态，则HUT不会发送泊入或泊出命令给HAP，如果HAP此时状态为待机状态，则HUT发送泊入或泊出命令给HAP。
  8. 根据权利要求5-7中任意一项所述的用于车辆的泊车方法，其特征在于，所述步骤S5包括：
    S52：在HAP接收到泊入或泊出命令后会进行发送校验信号给HUT，HUT返回确认信号后双方校验成功；校验成功后，HUT再次发送泊入或泊出命令，HAP开启进行功能自检。
  9. 根据权利要求8所述的用于车辆的泊车方法，其特征在于，所述步骤S5包括：
    S53：进行车辆状态检测，当检测到有异常时，HAP退出手势泊车程序，车辆无法进行手势泊车；当检测无异常时，此时HAP发送开始泊入或泊出信号给车辆的BCM，BCM开启双闪。
  10. 根据权利要求9所述的用于车辆的泊车方法，其特征在于，所述步骤S5包括：
    S54：HAP进行泊入或泊出方向区域的检测，当条件不满足时，HAP发送泊入或泊出条件不满足的信号给HUT，当条件满足时，HAP开始进行泊入或泊出。
  11. 根据权利要求10所述的用于车辆的泊车方法，其特征在于，所述步骤S5包括：
    S55：当泊入或泊出过程中出现障碍物时，HAP会进入暂停手势泊车程序模式，在一定的时间内，HAP会持续检测障碍物的状态，如障碍物消失，则HAP继续进行自动泊入或泊出，如果在一定时间内，障碍物仍然存在则HAP退出手势泊车程序。
  12. 根据权利要求6-11中任意一项所述的用于车辆的泊车方法，其特征在于，所述步骤S5包括：泊入或泊出过程中如果检测到用户发送暂停泊车的手势，DVR将暂停手势发给HUT，HUT识别到暂停手势后向HAP发送信号，此时HAP进入暂停手势泊车程序模式，一段时间内如果再次接到用户泊入或泊出命令，则HAP继续进行泊入或泊出，如果在固定的时间内未得到泊入或泊出命令则自动退出手势泊车程序。
  13. 根据权利要求6-12中任意一项所述的用于车辆的泊车方法，其特征在于，泊入或泊出完成后，HAP发送泊入或泊出完成信号给HUT，HUT控制中控显示屏显示泊入或泊出完成的状态信号，HAP退出手势泊车程序并发送P档和拉起手刹的请求给ESP，ESP将档位变成P档并拉起手刹。
  14. 一种车载泊车设备，其特征在于，包括：DVR、HUT、TBOX和PEPS，所述DVR、HUT、TBOX与所述PEPS彼此通讯连接；其中，
    所述DVR适于检测用户启动发动机的手势并生成启动发动机第一手势信号，所述HUT适于接收启动发动机第一手势信号并在识别到启动发动机第一手势信号后会发送CAN信号给TBOX，TBOX收到CAN信号后会发送启动发动机第二手势信号给PEPS，PEPS接收到启动发动机第二手势信号后会发送指令启动发动机。
  15. 根据权利要求14所述的车载泊车设备，其特征在于，还包括：HAP，所述HAP与所述HUT通讯连接且适于对泊入或泊出方向区域进行检测。
  16. 一种泊车系统，其特征在于，包括：如权利要求14-15任一项所述的车载泊车设备，及与所述车载泊车设备通信连接的蓝牙钥匙。
  17. 一种车辆，其特征在于，包括：如权利要求14-15任一项所述的车载泊车设备， 所述车载泊车设备用于执行如权利要求1-13中所述的泊车方法。
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