CN110466509A - Automatic parking mode selecting method, electronic equipment and automobile - Google Patents
Automatic parking mode selecting method, electronic equipment and automobile Download PDFInfo
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- CN110466509A CN110466509A CN201910784434.8A CN201910784434A CN110466509A CN 110466509 A CN110466509 A CN 110466509A CN 201910784434 A CN201910784434 A CN 201910784434A CN 110466509 A CN110466509 A CN 110466509A
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- 230000015654 memory Effects 0.000 claims description 16
- 238000010187 selection method Methods 0.000 claims description 15
- 230000037237 body shape Effects 0.000 claims description 4
- 238000013461 design Methods 0.000 abstract description 6
- 239000000523 sample Substances 0.000 description 6
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- 238000010586 diagram Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 4
- 230000000087 stabilizing effect Effects 0.000 description 4
- 230000003247 decreasing effect Effects 0.000 description 2
- 230000004927 fusion Effects 0.000 description 2
- 230000008054 signal transmission Effects 0.000 description 2
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Classifications
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- 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
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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
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- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
The present invention discloses a kind of automatic parking mode selecting method, electronic equipment and automobile, method includes: in response to searching out parking stall event, the parking stall searched out is judged, if the parking stall searched out meets preset narrow parking stall condition, narrow parking stall is issued and reminds；Park mode selection option is provided to complete to park according to the park mode selected.The present invention, to the narrow parking stall determined, is prompted by judging parking stall, can not be got off after avoiding user from selecting automatic parking.By increasing the algorithm and logical design, user it is apparent it is distinguishable go out which scene should application remoting park, increase user experience.
Description
Technical Field
The invention relates to the technical field of automobiles, in particular to an automatic parking mode selection method, electronic equipment and an automobile.
Background
At present, the existing full-automatic parking technology is based on an automatic parking system based on ultrasonic waves or images, the system controls an accelerator, a brake and steering, and a driver only needs to press a parking key in the automobile for a long time or does not need to press the key to finish automatic parking. With the social development, the number of private cars is continuously increased, and private parking spaces are increasingly tense, so that the space of the parking spaces is smaller and smaller, for the existing automatic parking technology, the limit length of the parallel parking spaces which can be realized is +1m of car length, the limit width of the minimum vertical parking space is +0.8m of car width, the smaller automatic parking system of the parking spaces can not find the parking spaces, or a driver can not get off the car after the car is parked in the parking space because the parking spaces are too narrow, and the user experience is seriously influenced. Therefore, the remote control parking technology is gradually developed, but after all, the remote control parking technology is not mature, so that the automatic parking scenes are used by users more, and only a few scenes are used for remote control parking. In the existing remote control parking system, when a user automatically parks in a parking space, the user needs to select 'automatic parking' or 'remote control parking' by clicking a button, and the automatic parking system cannot intelligently select the remote control parking or the automatic parking for the user, so that the user can not get off the vehicle by mistakenly using the automatic parking.
Disclosure of Invention
Therefore, it is necessary to provide an automatic parking mode selection method, an electronic device, and an automobile for solving a technical problem that the prior art cannot select remote parking or automatic parking for a user.
The invention provides an automatic parking mode selection method, which comprises the following steps:
responding to the parking place searching event, judging the searched parking place, and sending out narrow parking place reminding if the searched parking place meets the preset narrow parking place condition;
and providing a parking mode selection option, and completing parking according to the selected parking mode.
According to the invention, the parking space is judged, and the judged narrow parking space is prompted, so that the situation that a user cannot get off the vehicle after selecting automatic parking is avoided. By adding the algorithm and the logic design, a user can obviously distinguish which scenes should be applied to remote control parking, and the user experience is improved.
Further, providing a parking mode selection option, and completing parking according to the selected parking mode specifically includes:
providing a parking mode selection option and reminding passengers to get off;
after a preset time period, if the fact that a person is on the main driver seat and no person is on the auxiliary driver seat is judged, calling an auxiliary driving track approaching planning strategy to plan a parking track according to the selected parking mode to finish parking, wherein the auxiliary driving track approaching planning strategy is as follows: and when the parking is finished, the vehicle body deviates to the side of the copilot.
In the embodiment, when no person is in the front passenger seat, the driver is inclined to park on the front passenger side, so that the getting-off space of the driver in the main passenger seat is ensured.
Further, providing a parking mode selection option, and completing parking according to the selected parking mode specifically includes:
providing a parking mode selection option and reminding passengers to get off;
after a preset time period, if the passenger seat is judged to be occupied, prompting the user to use a remote control parking mode, and completing parking according to the selected parking mode.
The embodiment reminds the user of using the remote control parking mode for the condition that the passenger seat is occupied, but also allows the user to select automatic parking after parking, so that complaints of the user are avoided.
Still further, the narrow parking space condition is: the maximum opening width corresponding to the maximum opening angle of the car door and the width of the car body are used as the total width, if the total width is smaller than the width of the parking space, and the difference value between the width of the parking space and the total width is smaller than a preset width threshold value, the parking space is judged to be narrow.
This embodiment considers automobile body width and width of opening the door comprehensively to judge narrow parking stall more accurately.
Still further, the maximum opening angle of the vehicle door is determined according to body type parameters input by a user.
The embodiment determines the maximum opening angle of the vehicle door according to the body type parameters of the user, so that the users with different body types can get off smoothly.
The present invention provides an automatic parking mode selection electronic device, including:
at least one processor; and the number of the first and second groups,
a memory communicatively coupled to the at least one processor; wherein,
the memory stores instructions executable by the one processor to cause the at least one processor to:
responding to a parking place searching event, judging the searched parking place, sending narrow parking place reminding if the searched parking place meets a preset narrow parking place condition, and providing a parking mode selection option;
and completing parking according to the selected parking mode.
According to the invention, the parking space is judged, and the judged narrow parking space is prompted, so that the situation that a user cannot get off the vehicle after selecting automatic parking is avoided. By adding the algorithm and the logic design, a user can obviously distinguish which scenes should be applied to remote control parking, and the user experience is improved.
Further, providing a parking mode selection option, and completing parking according to the selected parking mode specifically includes:
providing a parking mode selection option and reminding passengers to get off;
after a preset time period, if the fact that a person is on the main driver seat and no person is on the auxiliary driver seat is judged, calling an auxiliary driving track approaching planning strategy to plan a parking track according to the selected parking mode to finish parking, wherein the auxiliary driving track approaching planning strategy is as follows: and when the parking is finished, the vehicle body deviates to the side of the copilot.
In the embodiment, when no person is in the front passenger seat, the driver is inclined to park on the front passenger side, so that the getting-off space of the driver in the main passenger seat is ensured.
Further, providing a parking mode selection option, and completing parking according to the selected parking mode specifically includes:
providing a parking mode selection option and reminding passengers to get off;
after a preset time period, if the passenger seat is judged to be occupied, prompting the user to use a remote control parking mode, and completing parking according to the selected parking mode.
The embodiment reminds the user of using the remote control parking mode for the condition that the passenger seat is occupied, but also allows the user to select automatic parking after parking, so that complaints of the user are avoided.
Still further, the narrow parking space condition is: the maximum opening width corresponding to the maximum opening angle of the car door and the width of the car body are used as the total width, if the total width is smaller than the width of the parking space, and the difference value between the width of the parking space and the total width is smaller than a preset width threshold value, the parking space is judged to be narrow.
This embodiment considers automobile body width and width of opening the door comprehensively to judge narrow parking stall more accurately.
Still further, the maximum opening angle of the vehicle door is determined according to body type parameters input by a user.
The embodiment determines the maximum opening angle of the vehicle door according to the body type parameters of the user, so that the users with different body types can get off smoothly.
The invention provides an automobile which comprises an automobile body and the electronic device, wherein the electronic device controls the automobile body to park.
According to the invention, the parking space is judged, and the judged narrow parking space is prompted, so that the situation that a user cannot get off the vehicle after selecting automatic parking is avoided. By adding the algorithm and the logic design, a user can obviously distinguish which scenes should be applied to remote control parking, and the user experience is improved.
Drawings
Fig. 1 is a flowchart illustrating an automatic parking mode selection method according to an embodiment of the present invention;
FIG. 2 is a flowchart illustrating a method for selecting an automatic parking mode according to a preferred embodiment of the present invention;
FIG. 3 is a system diagram of the preferred embodiment of the present invention;
fig. 4 is a schematic diagram of a hardware structure of an automatic parking mode selection electronic device according to the present invention.
Detailed Description
The invention is described in further detail below with reference to the figures and specific examples.
Fig. 1 is a flowchart illustrating an automatic parking mode selection method according to an embodiment of the present invention, including:
step S101, responding to a parking space searching event, judging the searched parking space, and sending a narrow parking space prompt if the searched parking space meets a preset narrow parking space condition;
and step S102, providing a parking mode selection option, and completing parking according to the selected parking mode.
Specifically, when a user needs to park, the automatic parking function is turned on, the system starts to search for a parking space, and after the parking space is found, step S101 is triggered, if the found parking space is a narrow parking space (for example, the width of a vertical parking space is only +0.6m), the system sends a prompt message to a central control screen through a Controller Area Network (CAN) bus signal, and the central control screen prompts the user through characters or voice, for example, displaying that "a narrow parking space is found" and please park ". Then, step S102 provides a parking mode selection option such as "automatic parking" or "remote parking", and completes parking in a corresponding parking mode according to the selection of the parking mode option by the user.
According to the invention, the parking space is judged, and the judged narrow parking space is prompted, so that the situation that a user cannot get off the vehicle after selecting automatic parking is avoided. By adding the algorithm and the logic design, a user can obviously distinguish which scenes should be applied to remote control parking, and the user experience is improved.
In one embodiment, the providing a parking mode selection option to complete parking according to the selected parking mode specifically includes:
providing a parking mode selection option and reminding passengers to get off;
after a preset time period, if the fact that a person is on the main driver seat and no person is on the auxiliary driver seat is judged, calling an auxiliary driving track approaching planning strategy to plan a parking track according to the selected parking mode to finish parking, wherein the auxiliary driving track approaching planning strategy is as follows: and when the parking is finished, the vehicle body deviates to the side of the copilot.
Specifically, the central control screen can prompt a user to find a narrow parking space and please park and get off passengers in the vehicle first through characters or voice. The system reminds the user to give the passengers in the vehicle off the vehicle first, the system judges within a certain time (for example, 30s), and the system judges whether the driver of the main driving seat and the passengers on the auxiliary driving seat are on the seats or not through a seat sensor or a safety belt signal and the like.
If the driver on the main driving seat does not get off the vehicle and the passenger on the auxiliary driving seat gets off the vehicle, the user can directly select 'automatic parking' or 'remote control parking', and the automatic parking is stopped according to the direction deviated to the auxiliary driving direction (for example, 10 cm-20 cm, so that the vehicle is not scratched). The conventional parking of the system is completed according to the principle that the vehicle stops at the center of the parking space with the error of +/-10 cm. And the strategy for planning the side track close to the copilot is to bias the vehicle body to stop towards the copilot side. A planning strategy close to the auxiliary driving side track is called by the system so as to ensure the main driving and getting-off space.
In the embodiment, when no person is in the front passenger seat, the driver is inclined to park on the front passenger side, so that the getting-off space of the driver in the main passenger seat is ensured.
In one embodiment, the providing a parking mode selection option to complete parking according to the selected parking mode specifically includes:
providing a parking mode selection option and reminding passengers to get off;
after a preset time period, if all the driving seats except the main driving seat are judged to have no people, calling a close-to-assistant driving side track planning strategy to plan a parking track according to the selected parking mode to finish parking, wherein the close-to-assistant driving side track planning strategy is as follows: and when the parking is finished, the vehicle body deviates to the side of the copilot.
Specifically, the central control screen can prompt a user to find a narrow parking space and please park and get off passengers in the vehicle first through characters or voice. The system reminds a user to enable passengers in the vehicle to get off the vehicle first, the system judges within a certain time (for example, 30s), and the system judges whether the passengers on other seats except the main driving seat are on the seat through a seat sensor or a safety belt signal and the like.
If passengers get off the vehicle in the vehicle, a user can directly select 'automatic parking' or 'remote control parking', the automatic parking is stopped in a driving direction deviating to the driving direction (for example, 10 cm-20 cm, so that the vehicle is not scratched, and the planning strategy of the track close to the driving direction is called by the system to ensure the driving space of the vehicle.
The present embodiment detects whether all people except the driver have alight from the vehicle, thereby avoiding affecting the rear passenger to alight from the vehicle.
In one embodiment, the providing a parking mode selection option to complete parking according to the selected parking mode specifically includes:
providing a parking mode selection option and reminding passengers to get off;
after a preset time period, if the passenger seat is judged to be occupied, prompting the user to use a remote control parking mode, and completing parking according to the selected parking mode.
Specifically, the central control screen can prompt a user to find a narrow parking space and please park and get off passengers in the vehicle first through characters or voice. The system reminds a user to enable passengers in the vehicle to get off the vehicle first, the system judges within a certain time (for example, 30s), and the system judges whether the passengers on other seats except the main driving seat are on the seat through a seat sensor or a safety belt signal and the like.
If people still exist in the car after 30s, the system recommends using the remote control parking through a text or voice frame 'the current parking space is narrow and small', the system recommends using the remote control parking, but allows the user to select automatic parking after parking, so as to avoid causing complaints of the user, if the user still selects automatic parking, the driver or passengers cannot get off the car after parking, but if the user selects remote control parking, the user can get off the car after confirming that the Bluetooth of the mobile phone is connected, continuous operation (such as continuous circle drawing, up-down back-and-forth sliding and other modes) is carried out on the mobile phone Application (APP), and the parking can be finished by constantly paying attention to the surrounding environment. And after parking is finished, the user can leave after locking the vehicle.
The embodiment reminds the user of using the remote control parking mode for the condition that the passenger seat is occupied, but also allows the user to select automatic parking after parking, so that complaints of the user are avoided.
In one embodiment, the narrow parking space condition is: the maximum opening width corresponding to the maximum opening angle of the car door and the width of the car body are used as the total width, if the total width is smaller than the width of the parking space, and the difference value between the width of the parking space and the total width is smaller than a preset width threshold value, the parking space is judged to be narrow.
Particularly, the maximum opening angle of the car door can be calibrated according to a real car at the later stage, and the maximum opening angle of the car door can be obtained by calibrating the corresponding relation between the width of a parking space (not including the distance between the outer rearview mirror) and the opening angle of the car door and then referring to the parameters of the percentile human body model. When the vehicle door is opened at the maximum opening angle of the vehicle door, the percentile is preset, for example, 95 percent of parameters of the human body model can get off smoothly.
This embodiment considers automobile body width and width of opening the door comprehensively to judge narrow parking stall more accurately.
In one embodiment, the maximum opening angle of the vehicle door is determined according to body size parameters input by a user.
Specifically, the user can input body shape parameters, such as height, weight, chest width, waist circumference and other related parameters, through the central control screen. The system reserves a corresponding list of body type parameters and the maximum opening angle of the vehicle door in advance, and obtains the corresponding maximum opening angle of the vehicle door from the list according to the body type parameters input by a user. The list can be determined by a pre-real vehicle calibration, for example, by calibrating the corresponding relationship between the parking space width (excluding the distance between the outside rearview mirror) and the door opening angle and then referring to the human body model corresponding to the body shape parameter to obtain the maximum door opening angle.
The embodiment determines the maximum opening angle of the vehicle door according to the body type parameters of the user, so that the users with different body types can get off smoothly.
Fig. 2 is a flowchart illustrating an automatic parking mode selection method according to a preferred embodiment of the present invention, which includes:
step S201, when a driver presses an automatic Parking system (APA) button, triggering step S202;
step S202, the APA enters an automatic parking state;
step S203, the system starts to find a parking space;
step S204, the system finds a narrow parking space, prompts a driver to park and prompts 'find the narrow parking space, please park and ask passengers in the vehicle to get off first';
step S205, after waiting for a preset time, the system detects whether non-main driving personnel in the vehicle get off the vehicle, if so, step S206 is executed, otherwise, step S212 is executed;
step S206, the user selects a parking mode, if automatic parking is selected, step S207 is executed to start automatic parking, otherwise step S209 is executed to start remote control parking;
step S207, confirming that parking is started, wherein the parking rule plan is a scheme according to a deviation auxiliary driving scheme, and ensuring the space of a main driving vehicle and a get-off vehicle;
step S208, completing parking, and enabling the user to get off the vehicle;
step S209, confirming that the mobile phone Bluetooth is connected, and prompting the user to get off when the remote control parking interface is opened;
step S210, a user performs a circling operation on the mobile phone;
step S211, parking is completed, and the user locks the vehicle and leaves;
step S212, the user selects a parking mode, if automatic parking is selected, step S213 is executed to start automatic parking, otherwise step S215 is executed to start remote control parking;
step S213, confirming to start parking, wherein the parking regulation planning strategy is to park according to the centered parking;
step S214, parking is completed, and the user may not get off the vehicle;
step S215, confirming that the mobile phone Bluetooth is connected, and prompting the user to get off when the remote control parking interface is opened;
step S216, a user performs circle marking operation on the mobile phone;
and step S211, finishing parking and enabling the user to lock the vehicle and leave.
When a user needs to park, the automatic parking function is turned on, the system CAN find a parking space, if the found parking space is a narrow parking space (for example, the width of the vertical parking space is only the width of the vehicle plus 0.6m), the system sends prompt information to the central control screen through a CAN signal, and the central control screen prompts the user to find a narrow parking space and please park and ask passengers in the vehicle to get off first through characters or voice. The system reminds the user to give the passengers in the vehicle off the vehicle first, the system judges within a certain time (for example, 30s), and the system judges whether other passengers in the vehicle are on the seats or not through a seat sensor or a safety belt signal and the like.
1) If the passengers get off the vehicle in the vehicle, the user can directly select 'automatic parking' or 'remote parking', and the automatic parking is parked in the direction inclined to the driving direction (for example: 10 cm-20 cm, ensuring that the vehicle does not have scraping risk), and ensuring the main driving and getting-off space by calling a planning strategy close to the driving side track of the passenger car through the system.
2) If people still exist in the car after 30s, the system recommends using the remote control parking through a text or voice frame that the current parking space is narrow and the system recommends using the remote control parking, but allows the user to select automatic parking after parking, so as to avoid causing complaints of the user, if the user still selects automatic parking, the driver or the passenger cannot get off after parking is finished, but if the user selects remote control parking, the user can get off after confirming that the Bluetooth of the mobile phone is connected, and continuous operation is performed on the mobile phone APP (for example: continuous circle drawing, up and down back and forth sliding and the like) and constantly paying attention to the surrounding environment, and the parking can be finished. And after parking is finished, the user can leave after locking the vehicle.
The conventional parking of the system is completed according to the principle that the vehicle stops at the center of the parking space with the error of +/-10 cm. The system judges that the basis for recommending remote control parking for narrow parking spaces is calibrated according to a real vehicle in the later period, and calibration parameters are obtained by calibrating the corresponding relation between the width of the parking space (not including the distance of the outside rearview mirror) and the opening angle of the door and then referring to the parameters of the percentile human body model.
Fig. 3 is a schematic diagram of a system according to a preferred embodiment of the present invention, where the system includes 12 ultrasonic probes, 4 all-round cameras, an automatic parking host, an electric power steering system, a vehicle body stabilizing system, a vehicle body Controller, a vehicle control unit, a meter, a combination switch, a corner sensor, a Telematics BOX (T-BOX), a mobile phone, and other related systems, the sensor units (the ultrasonic probes and the cameras) communicate with the automatic parking host through private communication, and the other related systems communicate with the automatic parking host through a Controller Area Network (CAN) or a tunable Data Rate Controller Area Network (CAN-FD). Wherein:
the parking starting switch 1 is a hard switch or a soft switch arranged in the central control screen and used for starting the automatic parking function.
The ultrasonic probe 2 (long distance) generates a square wave signal, the ultrasonic probe is driven by the amplifying circuit to send an ultrasonic pulse signal, when ultrasonic waves are transmitted by an obstacle, the ultrasonic pulse signal is measured and received by the ultrasonic probe, when the MCU detects return waves, temperature compensation is carried out according to the current temperature, and the obstacle distance is calculated through a formula d which is 1/2Ct (C which is 343m/s (20 ℃).
The all-round looking camera 3 is a wide-angle fish-eye camera and can capture parking space information and surrounding environment information by using image algorithm operation in real time. The method can detect and identify the obstacles (such as short objects, moving objects and the like) which cannot be detected by ultrasonic waves, and can accurately identify the length, the depth, lane lines, the types of the obstacles around the parking space and the like.
The automatic parking host machine 4 is used for extracting obstacle information around a vehicle through information depth fusion of a fusion camera and an ultrasonic probe, searching parking space information, simulating parking space information through a space detected by a sensor when the space is detected, judging whether the space range of the parking space is a qualified parking space (the length of a horizontal parking space is +0.8m, the width of a vertical parking space is +0.6m), releasing the parking space and finishing trajectory planning if the parking space is qualified, prompting a user to park on an instrument, and then prompting the user to select a parking mode: and (3) automatic parking or remote control parking, wherein if the user selects automatic parking, the system sends parking related instructions to an associated system (comprising an instrument, an electric power steering system and the like) to prompt the user to release the brake to start parking. If the remote control parking is needed, the driver only needs to connect the mobile phone Bluetooth and turn on the remote control parking APP, and then the user needs to execute the operation on the mobile phone to finish the parking.
The vehicle body stabilizing system 5 is used for sending torque increasing, torque reducing and gear shifting requests to the vehicle control unit when receiving the braking distance, the braking maximum speed limit and the gear shifting requests sent by the automatic parking host computer and signals of whether the automatic parking system can span or not and feeding back the current wheel speed, the vehicle speed and the like.
The electric power steering 6 is used for executing a steering angle and a steering angle acceleration request sent by the automatic parking host, controlling the steering wheel to steer to the angle of the command of the automatic parking host, and feeding back the reason for quitting control to the APA if the EPS is in failure or the driver intervenes in parking.
The vehicle control unit 7 is used for receiving torque increasing, torque decreasing and gear shifting requests sent by a vehicle body stabilizing system, responding to torque increasing and decreasing, gear shifting and the like in real time.
The meter 8 is used for displaying prompt characters and animation in the parking process, and giving an alarm by a buzzer and the like.
The electronic parking 9 is used for sending a setting and releasing request by the vehicle body stabilizing system when the parking is finished or the parking system exits;
the T-BOX 10 is used for Bluetooth connection of a mobile phone and a vehicle and signal transmission of a control command of a parking system;
the mobile phone 11 is provided with a Bluetooth terminal, performs signal transmission through Bluetooth and the T-BOX, detects distance information between the mobile phone and the vehicle, displays an APP operation interface and transmits a user operation instruction to the T-BOX, and the T-BOX transmits the distance information to other ECUs of the vehicle for relevant control.
Fig. 4 is a schematic diagram of a hardware structure of an automatic parking mode selection electronic device according to the present invention, including:
at least one processor 401; and the number of the first and second groups,
a memory 402 communicatively coupled to the at least one processor 401; wherein,
the memory 402 stores instructions executable by the one processor to cause the at least one processor to:
responding to a parking place searching event, judging the searched parking place, sending narrow parking place reminding if the searched parking place meets a preset narrow parking place condition, and providing a parking mode selection option;
and completing parking according to the selected parking mode.
The Electronic device is preferably an Electronic Control Unit (ECU), which may be integrated in the autonomous parking system. In fig. 4, one processor 401 is taken as an example.
The electronic device may further include: an input device 403 and a display device 404.
The processor 401, the memory 402, the input device 403, and the display device 404 may be connected by a bus or other means, and are illustrated as being connected by a bus.
The memory 402, which is a non-volatile computer-readable storage medium, may be used to store non-volatile software programs, non-volatile computer-executable programs, and modules, such as program instructions/modules corresponding to the automatic parking mode selection method in the embodiment of the present application, for example, the method flow shown in fig. 1. The processor 401 executes various functional applications and data processing by running the nonvolatile software programs, instructions, and modules stored in the memory 402, that is, implements the automatic parking mode selection method in the above-described embodiment.
The memory 402 may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created according to the use of the automatic parking mode selection method, and the like. Further, the memory 402 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some embodiments, the memory 402 may optionally include a memory remotely located from the processor 401, and these remote memories may be connected via a network to a device that performs the automatic parking mode selection method. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The input device 403 may receive an input of a driver click and generate signal inputs related to driver settings and function control of the automatic parking mode selection method. The display device 404 may include a display screen or the like.
The method of automatic parking mode selection in any of the above method embodiments is performed when the one or more modules are stored in the memory 402 and executed by the one or more processors 401.
According to the invention, the parking space is judged, and the judged narrow parking space is prompted, so that the situation that a user cannot get off the vehicle after selecting automatic parking is avoided. By adding the algorithm and the logic design, a user can obviously distinguish which scenes should be applied to remote control parking, and the user experience is improved.
In one embodiment, the providing a parking mode selection option to complete parking according to the selected parking mode specifically includes:
providing a parking mode selection option and reminding passengers to get off;
after a preset time period, if the passenger seat is judged to be free of people, calling a passenger track approaching planning strategy according to the selected parking mode to plan a parking track and finish parking, wherein the passenger track approaching planning strategy is as follows: and when the parking is finished, the vehicle body deviates to the side of the copilot.
In the embodiment, when no person is in the front passenger seat, the driver is inclined to park on the front passenger side, so that the getting-off space of the driver in the main passenger seat is ensured.
In one embodiment, the providing a parking mode selection option to complete parking according to the selected parking mode specifically includes:
providing a parking mode selection option and reminding passengers to get off;
after a preset time period, if all the driving seats except the main driving seat are judged to have no people, calling a close-to-assistant driving side track planning strategy to plan a parking track according to the selected parking mode to finish parking, wherein the close-to-assistant driving side track planning strategy is as follows: and when the parking is finished, the vehicle body deviates to the side of the copilot.
The present embodiment detects whether all people except the driver have alight from the vehicle, thereby avoiding affecting the rear passenger to alight from the vehicle.
In one embodiment, the providing a parking mode selection option to complete parking according to the selected parking mode specifically includes:
providing a parking mode selection option and reminding passengers to get off;
after a preset time period, if the passenger seat is judged to be occupied, prompting the user to use a remote control parking mode, and completing parking according to the selected parking mode.
The embodiment reminds the user of using the remote control parking mode for the condition that the passenger seat is occupied, but also allows the user to select automatic parking after parking, so that complaints of the user are avoided.
In one embodiment, the narrow parking space condition is: the maximum opening width corresponding to the maximum opening angle of the car door and the width of the car body are used as the total width, if the total width is smaller than the width of the parking space, and the difference value between the width of the parking space and the total width is smaller than a preset width threshold value, the parking space is judged to be narrow.
This embodiment considers automobile body width and width of opening the door comprehensively to judge narrow parking stall more accurately.
In one embodiment, the maximum opening angle of the vehicle door is determined according to body size parameters input by a user.
The embodiment determines the maximum opening angle of the vehicle door according to the body type parameters of the user, so that the users with different body types can get off smoothly.
An embodiment of the present invention provides an automobile, which includes a vehicle body and the electronic device as described above, where the electronic device controls the vehicle body to park.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (11)
1. An automatic parking mode selection method, comprising:
responding to the parking place searching event, judging the searched parking place, and sending out narrow parking place reminding if the searched parking place meets the preset narrow parking place condition;
and providing a parking mode selection option, and completing parking according to the selected parking mode.
2. The method for selecting an automatic parking mode according to claim 1, wherein the providing of a parking mode selection option to complete parking according to the selected parking mode comprises:
providing a parking mode selection option and reminding passengers to get off;
after a preset time period, if the fact that a person is on the main driver seat and no person is on the auxiliary driver seat is judged, calling an auxiliary driving track approaching planning strategy to plan a parking track according to the selected parking mode to finish parking, wherein the auxiliary driving track approaching planning strategy is as follows: and when the parking is finished, the vehicle body deviates to the side of the copilot.
3. The method for selecting an automatic parking mode according to claim 1, wherein the providing of a parking mode selection option to complete parking according to the selected parking mode comprises:
providing a parking mode selection option and reminding passengers to get off;
after a preset time period, if the passenger seat is judged to be occupied, prompting the user to use a remote control parking mode, and completing parking according to the selected parking mode.
4. The automatic parking mode selection method according to any one of claims 1 to 3, wherein the narrow parking space condition is: the maximum opening width corresponding to the maximum opening angle of the car door and the width of the car body are used as the total width, if the total width is smaller than the width of the parking space, and the difference value between the width of the parking space and the total width is smaller than a preset width threshold value, the parking space is judged to be narrow.
5. The automatic parking mode selection method according to claim 4, wherein the maximum opening angle of the door is determined according to a body shape parameter input by a user.
6. An automatic parking mode selection electronic device, comprising:
at least one processor; and the number of the first and second groups,
a memory communicatively coupled to the at least one processor; wherein,
the memory stores instructions executable by the one processor to cause the at least one processor to:
responding to a parking place searching event, judging the searched parking place, sending narrow parking place reminding if the searched parking place meets a preset narrow parking place condition, and providing a parking mode selection option;
and completing parking according to the selected parking mode.
7. The automatic parking mode selection electronic device of claim 6, wherein providing a parking mode selection option to complete parking according to the selected parking mode specifically comprises:
providing a parking mode selection option and reminding passengers to get off;
after a preset time period, if the fact that a person is on the main driver seat and no person is on the auxiliary driver seat is judged, calling an auxiliary driving track approaching planning strategy to plan a parking track according to the selected parking mode to finish parking, wherein the auxiliary driving track approaching planning strategy is as follows: and when the parking is finished, the vehicle body deviates to the side of the copilot.
8. The automatic parking mode selection electronic device of claim 6, wherein providing a parking mode selection option to complete parking according to the selected parking mode specifically comprises:
providing a parking mode selection option and reminding passengers to get off;
after a preset time period, if the passenger seat is judged to be occupied, prompting the user to use a remote control parking mode, and completing parking according to the selected parking mode.
9. The automatic parking mode selection electronic device according to any one of claims 6 to 8, wherein the narrow parking spot condition is: the maximum opening width corresponding to the maximum opening angle of the car door and the width of the car body are used as the total width, if the total width is smaller than the width of the parking space, and the difference value between the width of the parking space and the total width is smaller than a preset width threshold value, the parking space is judged to be narrow.
10. The automatic parking mode selection electronic device according to claim 9, wherein the maximum opening angle of the door is determined according to a body shape parameter input by a user.
11. An automobile, characterized by comprising a vehicle body, and the electronic device according to any one of claims 7 to 12, which controls the vehicle body to park.
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| CN201910784434.8A CN110466509A (en) | 2019-08-23 | 2019-08-23 | Automatic parking mode selecting method, electronic equipment and automobile |
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| CN201910784434.8A CN110466509A (en) | 2019-08-23 | 2019-08-23 | Automatic parking mode selecting method, electronic equipment and automobile |
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| CN112141089A (en) * | 2020-06-24 | 2020-12-29 | 上汽通用五菱汽车股份有限公司 | Intelligent parking system and method capable of switching parking modes |
| CN112799391A (en) * | 2020-09-15 | 2021-05-14 | 华人运通(上海)自动驾驶科技有限公司 | Parking method and device for narrow parking space, vehicle and storage medium |
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| CN113060129A (en) * | 2021-03-29 | 2021-07-02 | 恒大新能源汽车投资控股集团有限公司 | Automatic parking method, device and vehicle |
| CN113525353A (en) * | 2021-06-23 | 2021-10-22 | 东风汽车集团股份有限公司 | Bluetooth auxiliary parking method of remote monitoring terminal, remote monitoring terminal and system |
| CN113479196A (en) * | 2021-08-17 | 2021-10-08 | 北京百度网讯科技有限公司 | Parking method, parking device, electronic equipment, storage medium and automatic driving automobile |
| WO2023039737A1 (en) * | 2021-09-15 | 2023-03-23 | 华为技术有限公司 | Automatic parking method and apparatus |
| CN114940124A (en) * | 2022-05-17 | 2022-08-26 | 上海安亭地平线智能交通技术有限公司 | Time-sharing multiplexing method and device of sensing system, electronic equipment and storage medium |
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| CN116450381A (en) * | 2023-06-15 | 2023-07-18 | 蔚来汽车科技(安徽)有限公司 | Complex event processing method, electronic device, storage medium and vehicle |
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Application publication date: 20191119 |