CN110979312B

CN110979312B - Automatic parking method based on memory parking

Info

Publication number: CN110979312B
Application number: CN201911279996.3A
Authority: CN
Inventors: 王长劲; 叶雄飞
Original assignee: Wuhan Clarion Kotei Software Technology Co ltd
Current assignee: Wuhan Clarion Kotei Software Technology Co ltd
Priority date: 2019-12-11
Filing date: 2019-12-11
Publication date: 2021-09-14
Anticipated expiration: 2039-12-11
Also published as: CN110979312A

Abstract

An automatic parking method based on memory parking comprises the following steps: s1, responding to the operation that a user presses an automatic parking key to perform automatic parking, and storing the position of a parking frame, the type of parking and the position when the parking action starts in the automatic parking process by the ECU to form a parking record; s2, after the vehicle is started, the ECU intermittently acquires the current position information of the vehicle from a positioning device installed in the vehicle, matches the current position information with parking records, judges whether the vehicle enters the field of memory parking, and then enters S3, otherwise, continues to perform S2; s3, the ECU further judges whether the current driving direction of the vehicle is driven into the field from the memory parking field, if yes, the ECU controls a message reminding module to prompt the driver, and the method enters S4, otherwise, the method returns to S2; and S4, if the ECU detects that the user presses the automatic parking key within the preset time, the parking path is planned according to the record, and automatic parking is carried out, otherwise, the automatic parking is cancelled.

Description

Automatic parking method based on memory parking

Technical Field

The invention relates to the field of sensor data perception and decision planning in the field of automatic parking, in particular to an automatic parking method based on memory parking.

Background

The core of the automatic parking function comprises sensing, fusion, decision planning, control and the like of sensor data. The sensing of the sensor data is the first step of realizing the automatic parking function, and the decision planning is the intelligent and direct embodiment of the autonomous parking system.

The safety of automatic parking is a primary condition for automatic parking. Currently, the starting of the automatic parking function, the selection of the parking type, and the selection of the parking location all require manual operations by the driver. Some of these operations are performed during the driving of the vehicle, which may distract the user and bring about safety hazards. In addition, the user operation is too cumbersome, and the user experience is not good.

Disclosure of Invention

Based on the technical problems, an automatic parking method based on memory parking is provided, and aims to reduce operation steps in the automatic parking process and reduce potential safety hazards. The memory parking can be automatically matched and the automatic parking can be carried out according to the type of the last parking and the position of the parking frame, so that the potential safety hazard is reduced, the user operation is simplified, and the experience of the user is improved.

The technical scheme adopted by the invention for solving the technical problems is as follows: an automatic parking method based on memory parking is constructed, and comprises the following steps:

s1, responding to the operation that a user presses an automatic parking button to perform automatic parking, and storing the parking frame position, the parking type and the position at the beginning of the parking action in the secondary parking process of the automatic parking by the ECU to form a parking record; the parking type is used for searching the type of a parking space when automatic parking is started;

s2, after the vehicle is started, the ECU intermittently acquires the current position information of the vehicle from a positioning device installed in the vehicle, matches the current position information with the parking record, and judges whether the vehicle enters the field of memory parking, wherein the judgment method comprises the following steps: when the current position information of the vehicle is in a preset neighborhood range compared with the parking frame position in the parking record or the position at the beginning of the parking action, the vehicle is considered to enter the memory parking field, and then the step S3 is executed, otherwise, the step S2 is executed;

s3, the ECU further judges whether the current driving direction of the vehicle is driven into the memory parking field from the memory parking field, if so, the ECU controls a message reminding module to prompt the driver, and simultaneously, the step S4 is carried out, otherwise, the step S2 is returned;

and S4, if the ECU detects that the user presses the automatic parking key within the preset time, controlling the self-vehicle to perform parking path planning according to the current position of the vehicle, the parking type and the parking frame position in the parking record, and performing automatic parking, otherwise, canceling the automatic parking.

Further, in the memory parking-based automatic parking method according to the present invention, the types of parking include: the longitudinal column refers to that the parking space is parallel to the direction of the vehicle body, the parallel parking space is perpendicular to the direction of the vehicle body, the backward direction refers to that the vehicle backs to the parking space, and the forward direction refers to that the vehicle head drives into the parking space.

Further, in the automatic parking method based on memory parking according to the present invention, the range of the field refers to: and two circular areas with preset radiuses and taking the position of the parking frame in the parking record and the position at the beginning of parking in the parking record as the circle centers.

Further, in the memory parking-based automatic parking method, the ECU also acquires the current running speed of the vehicle and controls the vehicle to allow the vehicle to automatically park only when the current running speed is less than the preset speed, otherwise, the vehicle is prohibited from automatically parking.

Further, in the automatic parking method based on memory parking, each vehicle stores at most 3 parking records, and when three new parking records are stored, the parking records are updated in a circulating covering mode or a designated covering mode.

Further, in the automatic parking method based on memory parking according to the present invention, when the parking records stored in the vehicle are multiple, and the matching is performed in step S2, if it is determined that the vehicle enters the memory parking area corresponding to any parking record, the vehicle is not matched with other parking records.

The implementation of the automatic parking method based on memory parking has the following beneficial effects: the method and the device make full use of the equipment on the existing vehicle, reduce the operation steps of the user by making full use of the acquired data, optimize the operation steps of the user in the automatic parking function, reduce the potential safety hazard, improve the experience of the user and improve the degree of automation and intelligence.

Drawings

The invention will be further described with reference to the accompanying drawings and examples, in which:

fig. 1 is a flowchart of an embodiment of an automatic parking method based on memory parking according to the present invention.

Detailed Description

For a more clear understanding of the technical features, objects and effects of the present invention, embodiments of the present invention will now be described in detail with reference to the accompanying drawings.

Referring to fig. 1, an automatic parking method based on memory parking includes the following steps:

s1, responding to the operation that a user presses an automatic parking button to perform automatic parking, and storing the position of a parking frame, the type of parking, the driving direction of a vehicle during parking and the position at the beginning of parking action in the secondary parking process of the automatic parking by the ECU to form a parking record; the parking type is used for searching the type of a parking space when automatic parking is started; in this embodiment, the parking types include a longitudinal column, a parallel backward direction and a parallel forward direction, the longitudinal column indicates that the parking space is parallel to the direction of the vehicle body, the parallel direction indicates that the parking space is perpendicular to the direction of the vehicle body, the backward direction indicates that the vehicle backs to the parking space, and the forward direction indicates that the vehicle head drives into the parking space.

In this embodiment, each vehicle stores at most 3 parking records, and when three new parking records are stored, the new parking records are updated in a circulating coverage mode or a specified coverage mode. The cycle coverage means that the latest parking record is covered and the earliest parking record is covered.

S2, after the vehicle is started, the ECU intermittently acquires the current position information of the vehicle from a positioning device installed in the vehicle, matches the current position information with the parking record, and judges whether the vehicle enters the field of memory parking, wherein the judgment method comprises the following steps: and when the current position information of the own vehicle is within a preset neighborhood range compared with the position of a parking frame in the parking record or the position at the beginning of the parking action, the vehicle is considered to enter the memory parking field, and then the step S3 is executed, otherwise, the step S2 is executed continuously. In this embodiment, the field range refers to: two circular areas with the radius of 10 meters are used as the centers of circles of the parking frame position in the parking record and the position at the start of parking in the parking record.

When the parking records stored in the vehicle are multiple, if the matching is performed in step S2, if it is determined that the vehicle enters the memory parking area corresponding to any parking record, the vehicle is not matched with other parking records.

S3, the ECU further judges whether the current driving direction of the vehicle is driven into the memory parking field from the outside of the memory parking field, if yes, the ECU judges that the vehicle is in storage, the control message reminding module prompts the driver, and simultaneously, the step S4 is entered, otherwise, the ECU judges that the vehicle is out of storage and returns to the step S2.

And S4, if the ECU detects that the user presses the automatic parking key within the preset time, controlling the self-vehicle to perform parking path planning according to the current position of the vehicle, the parking type and the parking frame position in the parking record, and performing automatic parking, otherwise, canceling the automatic parking. When the system searches parking spaces during automatic parking, the system searches corresponding parking spaces according to different parking types, and other information required to be adopted during parking path planning is not limited.

As a preferred embodiment of the present invention, the ECU further obtains the current traveling speed of the host vehicle, and controls the vehicle to allow the automatic parking of the vehicle only when the current traveling speed is less than a preset speed, for example, 10Km/h, and otherwise prohibits the automatic parking of the vehicle. The reason for performing this step is that a higher vehicle speed has a higher risk of starting the automatic parking function, and the automatic parking must be allowed to start until the vehicle speed falls to a certain value.

While the present invention has been described with reference to the embodiments shown in the drawings, the present invention is not limited to the embodiments, which are illustrative and not restrictive, and it will be apparent to those skilled in the art that various changes and modifications can be made therein without departing from the spirit and scope of the invention as defined in the appended claims.

Claims

1. An automatic parking method based on memory parking is characterized by comprising the following steps:

s1, responding to the operation that a user presses an automatic parking key to perform automatic parking, and storing the position of a parking frame, the type of parking and the position when the parking action starts in the automatic parking process by the ECU to form a parking record; the parking records saved by each vehicle are 3 at most, and when three new parking records are saved and need to be stored, the parking records are updated in a circulating covering or appointed covering mode; the parking type is used for searching the type of a parking space when automatic parking is started; the types of parking include: the parking device comprises a longitudinal column, a parallel backward direction and a parallel forward direction, wherein the longitudinal column means that a parking space is parallel to the direction of a vehicle body, the parallel direction means that the parking space is vertical to the direction of the vehicle body, the backward direction means that a vehicle backs to enter the parking space, and the forward direction means that a vehicle head enters the parking space;

s2, after the vehicle is started, the ECU intermittently acquires the current position information of the vehicle from a positioning device installed in the vehicle, matches the current position information with the parking record, and judges whether the vehicle enters the field of memory parking, wherein the judgment method comprises the following steps: when the current position information of the vehicle is in a preset neighborhood range compared with the parking frame position in the parking record or the position at the beginning of the parking action, the vehicle is considered to enter the memory parking field, and then the step S3 is executed, otherwise, the step S2 is executed; the neighborhood range refers to: two circular areas with the radius of 10 meters and taking the position of the parking frame in the parking record and the position at the beginning of parking in the parking record as the center of a circle; when the parking records stored by the vehicle are multiple, if the matching is carried out in the step, if the matching is carried out, whether the vehicle enters a memory parking field corresponding to any parking record is judged, the vehicle is not matched with other parking records;

2. The memory parking-based automatic parking method according to claim 1, wherein the ECU further obtains a current traveling speed of the vehicle and controls the vehicle to allow the vehicle to automatically park only when the current traveling speed is less than a preset speed, otherwise prohibits the vehicle from automatically parking.