CN102431551B - Parking space detecting method and parking space detecting system - Google Patents
Parking space detecting method and parking space detecting system Download PDFInfo
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Abstract
The invention provides a parking space detecting method, which includes steps of presetting target transverse value and target longitudinal value of a target parking space, determining the start point of the longitudinal displacement, acquiring transverse displacement of the target parking space during operation of a target vehicle and determining the acquired start point of the longitudinal displacement of the target vehicle according to the transverse displacement, judging the parking space, and acquiring the longitudinal displacement of the target vehicle in real time from the start point and when the absolute value of the longitudinal displacement is larger than or equal to the target longitudinal value, the target parking space meets the requirements of the parking space. Correspondingly, a parking space detecting system is provided. Compared with the prior art, the parking space detecting method and the parking space detecting system are simple in structure and method, low in cost, higher in detecting precision and accordant to auxiliary parking operations under various road conditions.
Description
Technical field
The invention belongs to automobile control technology field, be specifically related to a kind of parking space detection method and parking space's detection system.
Background technology
In auxiliary parking system, park after start button when pressing, first enter parking space's detection process, when detecting while meeting the parking position that target vehicle parks, draw auxiliary running orbit of parking according to the position at target vehicle place in the parking position system of axes of auxiliary parking system, according to the drawn running orbit of parking, driver assistance carries out the control of speed of a motor vehicle gear and steering wheel angle, and brake, beat direction processing etc. at the crucial point station of parking, finally vehicle parking is arrived to corresponding parking position.Therefore, in auxiliary parking system, be, to assist the basic step of parking to the detection process of parking space.
Existing auxiliary parking system is in parking space's detection process, in the time that the longitudinal size of the qualified parking place of possibility (hereinafter to be referred as target parking stall) is detected, generally need special displacement pickup be installed at vehicle body and detect the displacement (being longitudinal travel) that target vehicle advances or retreats, whether meet longitudinal default value of target vehicle parking place to detect the longitudinal size of described target parking stall, simultaneously need to vehicle body install special yaw angle sensor with measuring vehicle in parking space's detection process whether in craspedodrome state, but being installed, special sensor both increased the cost of auxiliary parking system, also need be in the position of the reserved sensor special of vehicle body, make the complex structure of auxiliary parking system, and when the lateral dimension of target parking stall is detected, it is generally the view data of special camera being installed coming collection vehicle side in vehicle body side, whether the lateral dimension of then described view data being processed to detect described target parking stall meets the horizontal default value of target vehicle parking place, but the mode of described image acquisition and processing difficulty on technology realizes is larger, and time-to-market is longer, cost is higher, is difficult to popularize.
Summary of the invention
Technical matters to be solved by this invention is for above shortcomings in prior art, provide a kind of simple to operate, cost is low, detection accuracy is higher, meet parking space's detection method and parking space's detection system under various road conditions condition.
The technical scheme that solution the technology of the present invention problem adopts is that described parking space detection method comprises the steps:
1) the target lateral value and the target that set in advance target parking stall are longitudinally worth;
2) determine the initial point of longitudinal travel: in the time that target vehicle moves, the cross travel of Real-time Obtaining target parking stall, and determine the initial point of the longitudinal travel that obtains target vehicle according to described cross travel;
3) judgement of parking space: start the longitudinal travel of Real-time Obtaining target vehicle from described initial point, in the time that the absolute value of described longitudinal travel is more than or equal to described target and is longitudinally worth, judge that target parking stall meets the condition of parking space.
Preferably, step 2) in determine that the initial point of longitudinal travel is: in the time that target vehicle moves, carry out the cross travel of Real-time Obtaining target parking stall by the transverse distance between Real-time Obtaining target vehicle and the obstacle of target parking stall one side, if several transverse distance continous-stables of target vehicle institute's Real-time Obtaining in the process that has moved default longitudinal travel and be all more than or equal to described target lateral value, set this moment the initial point of the longitudinal travel for obtaining target vehicle;
Step 3) in the judgement of parking space be: target vehicle continues operation, start the longitudinal travel of Real-time Obtaining target vehicle from described initial point, and in this process, continue the transverse distance between Real-time Obtaining target vehicle and the obstacle of the same side, target parking stall, when being more than or equal to described target, the absolute value of the described longitudinal travel obtaining is longitudinally worth, and when the absolute value of the transverse distance of described Real-time Obtaining is more than or equal to described target lateral value all the time, judge that target parking stall meets the condition of parking space.
Further preferably, described step 3) further comprising the steps:
31) in the process of obtaining described longitudinal travel, in the time that the absolute value of the described longitudinal travel obtaining is less than described target and is longitudinally worth, transverse distance between the target vehicle of Real-time Obtaining and the same side, described target parking stall obstacle changes, and the absolute value of the difference of the transverse distance before the transverse distance after changing and variation is less than described target lateral value, if moved several transverse distance continous-stables of institute's Real-time Obtaining in the process of default longitudinal travel the moment that target vehicle changes from described transverse distance, the transverse distance of setting after described variation is initial reference value,
32) in the time that Real-time Obtaining changes again to the transverse distance between target vehicle and the same side, described target parking stall obstacle, if the absolute value of the transverse distance after again changing described and the difference of described initial reference value is more than or equal to described target lateral value, the longitudinal travel that the moment that Real-time Obtaining target vehicle changes again from described transverse distance starts, and reset this moment the initial point of the longitudinal travel for obtaining target vehicle;
33) target vehicle continues operation, restart the longitudinal travel of Real-time Obtaining target vehicle from the initial point resetting, and in this process, continue the transverse distance between Real-time Obtaining target vehicle and the obstacle of the same side, target parking stall, when being more than or equal to described target, the absolute value of the longitudinal travel again obtaining is longitudinally worth, and the absolute value of the difference of the transverse distance of described Real-time Obtaining and initial reference value is more than or equal to described target lateral value all the time, judge that target parking stall meets the condition of parking space, target parking stall detection process finishes; In the above-mentioned process that restarts the longitudinal travel of target vehicle described in Real-time Obtaining, if the transverse distance between the target vehicle of described Real-time Obtaining and the same side, target parking stall obstacle changes again, again perform step 31)～33), until find the region that meets parking space's condition.
Preferably, step 1) and step 2) between be also provided with step 12):
12) judge left side or the right side of target parking stall in target vehicle.
Further preferably, described step 12) be specially:
Judge left side or the right side of target parking stall in target vehicle by chaufeur, then doing judgement according to it opens on target vehicle steering indicating light that should target carriage position one side, again by the ECU in target vehicle according to the steering indicating light of described unlatching, start this steering indicating light the detection of target parking stall of a corresponding side, and perform step 2).
Preferably, step 1) and step 2) between also include step 11):
11) detect in real time the steering wheel angle of target vehicle, if described steering wheel angle is zero or in default angle range, enter next step; If described steering wheel angle is non-vanishing or exceed default angle range, continue to detect in real time the steering wheel angle of target vehicle, until described steering wheel angle is zero or in default angle range.
Further preferably, the detection of the steering wheel angle of described target vehicle is to be completed by the built-in steering wheel angle sensor of target vehicle; Described default angle range is-10 °～+ 10 °; Receive and judge whether the steering wheel angle that described steering wheel angle sensor is exported is in real time zero or in default angle range, is to be completed by the ECU of target vehicle; The target lateral value of described angle range and described target parking stall and target longitudinally value default in the ECU of target vehicle.
Preferably, described detection method also includes step 4):
If according to step 1)～step 3) when detecting the left side of target vehicle or right side and having a target parking stall that meets parking space's condition, automatically open on target vehicle steering indicating light that should target carriage position one side, again by the ECU of target vehicle according to the steering indicating light of described unlatching, judge that the target parking stall of the corresponding side of this steering indicating light is parking space;
If according to step 1)～step 3) left and right sides of detecting target vehicle is while having the target parking stall that meets parking space's condition, select and open on target vehicle steering indicating light that should target carriage position one side according to described selection by chaufeur, again by the ECU of target vehicle according to the steering indicating light of described unlatching, judge that the target parking stall of the corresponding side of this steering indicating light is parking space.
Preferably, described default longitudinal travel defaults in the ECU of target vehicle, and the scope of described default longitudinal travel is 1m～2m; Described transverse distance continous-stable refers to that the difference between the aviation value of each and described several transverse distances in several transverse distances of target vehicle Real-time Obtaining in the process that has moved default longitudinal travel is all no more than 5cm; In target vehicle operational process, if when target vehicle and the same side, described target parking stall clear, judge that now the distance between target vehicle and this obstacle is greater than described target lateral value.
Preferably, the method for the longitudinal travel of described Real-time Obtaining target vehicle is:
Before the longitudinal travel of Real-time Obtaining target vehicle, first by the pulse value zero clearing of the wheel speed sensors output adding up in target vehicle;
In the time starting the longitudinal travel of Real-time Obtaining target vehicle, record and add up the pulse value of wheel speed sensors output;
Calculate again the longitudinal travel of target vehicle according to the pulse value of the gear signal of target vehicle, radius of wheel and described accumulative total.
A kind of parking space detection system, this system comprises cross travel acquiring unit, longitudinal travel acquiring unit and control unit,
Cross travel acquiring unit, for the transverse distance of Real-time Obtaining target parking stall, and exports the cross travel signal of described Real-time Obtaining to control unit;
Longitudinal travel acquiring unit, for the longitudinal travel of Real-time Obtaining target vehicle, and exports the longitudinal travel signal of described Real-time Obtaining to control unit;
Control unit, for the cross travel of instruction cross travel acquiring unit Real-time Obtaining target vehicle and the cross travel signal of reception cross travel acquiring unit output, and carry out accordingly the initial point of the longitudinal travel of determining target parking stall, while is at the longitudinal travel of initial point time instructions longitudinal travel acquiring unit Real-time Obtaining target vehicle, and receive the longitudinal travel signal that longitudinal travel acquiring unit is exported, then judge according to the longitudinal travel signal receiving whether described target parking stall meets the condition of parking space.
Preferably, described control unit includes cross travel comparison module, the first longitudinal travel comparison module and controls execution module, in described cross travel comparison module, be preset with the target lateral value of target parking stall, the target that is preset with target parking stall in described the first longitudinal travel comparison module is longitudinally worth
Described cross travel comparison module is for receiving the cross travel signal of cross travel acquiring unit output, and by the cross travel receiving and in it default target lateral value compare, then export comparative result to control execution module;
Described the first longitudinal travel comparison module is for receiving the longitudinal travel signal of longitudinal travel acquiring unit output, and the longitudinal travel receiving and the longitudinal value of target default in it are compared, then exports comparative result to control execution module;
Described control execution module is for the cross travel of instruction cross travel acquiring unit Real-time Obtaining target parking stall, then determine the initial point of the longitudinal travel that obtains target parking stall according to the comparative result of cross travel comparison module output, simultaneously obtaining the longitudinal travel of initial point time instructions longitudinal travel acquiring unit Real-time Obtaining target vehicle of longitudinal travel, then judging according to the comparative result of the first longitudinal travel comparison module output whether target parking stall meets the condition of parking space.
Further preferably, in described control unit, also include the second longitudinal travel comparison module, in described the second longitudinal travel comparison module, be preset with default longitudinal travel,
Described the second longitudinal travel comparison module is for receiving the longitudinal travel signal of longitudinal travel acquiring unit output, and the longitudinal travel receiving and the default longitudinal travel of presetting in it are compared, then exports comparative result to control execution module;
Described control execution module is also for before determining the initial point of longitudinal travel, in the cross travel of instruction cross travel acquiring unit Real-time Obtaining target parking stall, the longitudinal travel of instruction longitudinal travel acquiring unit Real-time Obtaining target parking stall, and exporting the described longitudinal travel signal obtaining to second longitudinal travel comparison module, the comparative result of then exporting respectively according to cross travel comparison module and the second longitudinal travel comparison module is determined the initial point of longitudinal travel.
Preferably, described control unit adopts the ECU of target vehicle;
Described cross travel acquiring unit comprises ultrasonic transduter, described ultrasonic transduter adopts two, left side and right side that it is separately positioned on the front bumper of target vehicle, be respectively used to the transverse distance between real-time measurement target vehicle and the obstacle on its left side or right side;
Described longitudinal travel acquiring unit comprises the ECU in wheel speed sensors and target vehicle, and described wheel speed sensors is for exporting in real time pulse value; Described ECU is used for recording and adding up the pulse value of wheel speed sensors output, and calculates the longitudinal travel of target vehicle according to the pulse value of the gear signal of target vehicle, radius of wheel and described accumulative total.
Preferably, in this system, also include for judging the left side of target parking stall in target vehicle or the first orientation judging unit on right side, described first orientation judging unit comprises the ECU of steering indicating light and target vehicle, described steering indicating light adopts two, it is separately positioned on left side and the right side of target vehicle, described ECU is according to the unlatching of the steering indicating light on the left side of target vehicle or right side, judge left side or the right side of target parking stall in target vehicle, then instruction cross travel acquiring unit is started working accordingly; Or,
In this system, also include second orientation judging unit and target parking stall selected cell, described second orientation judging unit comprises the ECU of steering indicating light and target vehicle, described steering indicating light adopts two, it is separately positioned on left side and the right side of target vehicle, described target parking stall selected cell for selecting one of them target parking stall in the time that control unit detects that target vehicle both sides all have the target parking stall that meets parking space's condition, open the steering indicating light of its respective side according to its selected target parking stall again, described ECU is according to the unlatching of this steering indicating light, the target parking stall of judging the corresponding side of this steering indicating light is parking space, or, described target parking stall selected cell is when detecting that when control unit there is a target parking stall that meets parking space's condition on the left side of target vehicle or right side, open the steering indicating light of its respective side according to the described target parking stall that meets parking space's condition, described ECU is according to the unlatching of this steering indicating light, the target parking stall of judging the corresponding side of this steering indicating light is parking space.
Preferably, in described system, also include the craspedodrome judging unit for judging whether target vehicle keeps straight on, described craspedodrome judging unit comprises the ECU of steering wheel angle sensor and target vehicle, described steering wheel angle sensor is for the steering wheel angle of Real-time Obtaining target vehicle, and the steering wheel angle signal obtaining is sent in ECU, in ECU, be preset with angle range, when ECU receives after described steering wheel angle, by it with its in default angle range compare, when the described steering wheel angle receiving exceeds default angle range, command direction dish angular transducer continues the steering wheel angle of Real-time Obtaining target vehicle, when the described steering wheel angle receiving is in default angle range, ECU instruction cross travel acquiring unit is started working.
The present invention compared with prior art tool has the following advantages:
1.. avoid in prior art, needing to arrange special displacement pickup and yaw angle sensor just can complete the detection to target parking stall longitudinal size, also without the position at the reserved described dedicated bit displacement sensor of vehicle body, reduce the cost of parking space's detection system, reduced the complexity of system architecture;
2.. only need set up ultrasonic transduter in vehicle body side, and utilize the wheel speed sensors of vehicle itself and steering wheel angle sensor can complete to target parking stall laterally and the detection of longitudinal size, this parking space's detection method is simple, adopt this detection method parking space's detection system simple in structure, cost is low;
3.. the detection accuracy of described parking space detection method and detection system is higher, meets the auxiliary operation of parking under various road conditions condition.
Accompanying drawing explanation
Fig. 1 is the schematic diagram of the embodiment of the present invention 1 parking space's detection method;
Fig. 2 is the diagram of circuit of the embodiment of the present invention 1 parking space's detection method;
Fig. 3 is the composition schematic diagram of the embodiment of the present invention 1 parking space's detection system;
Fig. 4 is the composition schematic diagram of the embodiment of the present invention 2 parking space's detection systems;
Fig. 5 is the schematic diagram of the embodiment of the present invention 2 parking space's detection methods;
Fig. 6 is the schematic diagram of the embodiment of the present invention 3 parking space's detection methods.
The specific embodiment
For making those skilled in the art understand better technical scheme of the present invention, below in conjunction with accompanying drawing, parking space of the present invention detection method and parking space's detection system are described in further detail.
Parking space of the present invention detection method comprises the steps:
1) the target lateral value and the target that set in advance target parking stall are longitudinally worth;
2) determine the initial point of longitudinal travel: in the time that target vehicle moves, the cross travel of Real-time Obtaining target parking stall, and determine the initial point of the longitudinal travel that obtains target vehicle according to described cross travel;
3) judgement of parking space: start the longitudinal travel of Real-time Obtaining target vehicle from described initial point, in the time that the absolute value of described longitudinal travel is more than or equal to described target and is longitudinally worth, judge that target parking stall meets the condition of parking space.
Parking space of the present invention detection system comprises cross travel acquiring unit, longitudinal travel acquiring unit and control unit,
Cross travel acquiring unit, for the transverse distance of Real-time Obtaining target parking stall, and exports the cross travel signal of described Real-time Obtaining to control unit;
Longitudinal travel acquiring unit, for the longitudinal travel of Real-time Obtaining target vehicle, and exports the longitudinal travel signal of described Real-time Obtaining to control unit;
Control unit, for the cross travel of instruction cross travel acquiring unit Real-time Obtaining target vehicle and the cross travel signal of reception cross travel acquiring unit output, and carry out accordingly the initial point of the longitudinal travel of determining target parking stall, while is at the longitudinal travel of initial point time instructions longitudinal travel acquiring unit Real-time Obtaining target vehicle, and receive the longitudinal travel signal that longitudinal travel acquiring unit is exported, then judge according to receiving longitudinal travel signal whether described target parking stall meets the condition of parking space.
Embodiment 1:
As shown in Figure 1 and Figure 2, in the present embodiment, target parking stall is positioned at the right side of target vehicle and is positioned at the rear of vehicle 1, and described parking space detection method comprises the steps:
S101. according to the actual size of target vehicle, the target lateral value and the target that in the ECU of target vehicle (Electronic Control Unit, electronic control unit), set in advance target parking stall are longitudinally worth.Described target lateral value is more than or equal to the lateral dimension of target vehicle, and the longitudinal value of described target is more than or equal to the longitudinal size of target vehicle.
S102. in target vehicle operation time,, by the steering wheel angle sensor steering wheel angle of the target vehicle of output in real time of the ECU receiving target built-in vehicle of target vehicle.
S103. judge that by ECU whether described steering wheel angle is zero or whether in ECU in default angle range (10 °～+ 10 °), in this way, illustrate that target vehicle, in craspedodrome state, carries out s104; As no, illustrate that target vehicle is in turn condition, carry out s102.
S104. judge left side or the right side of target parking stall in target vehicle.Concrete, this process is determined by the judgement of chaufeur, if the right side of target parking stall in target vehicle, chaufeur is opened the steering indicating light on target vehicle right side according to described judgement, the steering indicating light of being opened according to described right side by the ECU of target vehicle again, automatically start the detection process of the target parking stall of carrying out target vehicle right side, and carry out s105.
S105. by being arranged on the distance between ultrasonic transduter (being radar) the Real-time Obtaining target vehicle on target vehicle front bumper right side and the obstacle (curb or other obstacles) on its right side, set this distance for transverse distance d1, if target vehicle is having moved default longitudinal travel, (this default longitudinal travel is default in the ECU at target vehicle, its scope is 1m～2m) process described in ultrasonic transduter Real-time Obtaining several transverse distances d1 continous-stable and be all more than or equal to described target lateral value, described transverse distance is described | d1| meets described target lateral value, setting the position at target vehicle place is this moment initial point (A point place in Fig. 1).Described transverse distance continous-stable refers to that the difference between the aviation value of each and described several transverse distances in several transverse distances of target vehicle Real-time Obtaining in the process that has moved default longitudinal travel is all no more than 5cm.The object of this step is for further assurance target vehicle maintenance operation and in craspedodrome state.
S106. in the time that target vehicle arrives initial point (A point place in Fig. 1), the pulse value zero clearing of wheel speed sensors (adopting two built-in front-wheel wheel speed sensors of the target vehicle) output that ECU is first added up, then start to record and add up the pulse value of wheel speed sensors output, and calculate according to the pulse value of the gear signal of target vehicle, radius of wheel and described accumulative total the longitudinal travel D that target vehicle starts from initial point (A point in Fig. 1).
Concrete, during due to the whole circle of vehicle wheel rotation one of target vehicle, wheel speed sensors is exported several pulses, can extrapolate the number of turns of vehicle wheel rotation by the pulse of the described output of accumulative total, can extrapolate according to radius of wheel the displacement that target vehicle advances or retreats again, and the gear signal of target vehicle can judge that target vehicle is in forward travel state or fallback state, due to longitudinal travel described in the present embodiment, D refers to the displacement that target vehicle advances, if there is situation about retreating in target vehicle in the process of calculating longitudinal travel D, just can learn according to its gear signal, therefore calculate longitudinal travel D time the target vehicle at the pulse value place of reckoning of accumulative total retreats need cut target vehicle and retreat time displacement.
S107. target vehicle continues operation, start to obtain in the process of target vehicle longitudinal travel D from described initial point (A point in Fig. 1), in the process of the pulse value of also exporting at the ECU of target vehicle accumulative total wheel speed sensors, continue the transverse distance between Real-time Obtaining target vehicle and the obstacle (curb or other obstacles) on right side, when the described longitudinal travel obtaining | D| (absolute value of D) is more than or equal to described target and is longitudinally worth, and the transverse distance of described Real-time Obtaining | when d1| is more than or equal to described target lateral value all the time, arrive B place in Fig. 1, described transverse distance is described | d1| meets described target lateral value and described longitudinal travel | and D| meets described target and is longitudinally worth, judge that target parking stall (region in Fig. 1 between A to B) meets the condition of parking space, target parking stall detection process finishes.
In above steps, if the right side clear of target vehicle, the distance between the target vehicle of described ultrasonic transduter Real-time Obtaining and the obstacle on its right side is infinitely great, judges that now the distance between target vehicle and the obstacle on its right side is greater than described target lateral value.
Above-mentioned parking space detection method need to be prejudged left side or the right side of target parking stall in target vehicle by chaufeur, then just starts to carry out the detection process of this target parking stall.Here also can adopt without chaufeur and prejudge the left side of target parking stall in target vehicle or another method on right side, this kind of method is without carrying out above-mentioned steps s104, when the judged result of step s103 is when being, directly execution step s105～s107, and in the process of execution step s105～s107, also need the target parking stall of detection of a target vehicle left side (by being arranged on the distance between the ultrasonic transduter Real-time Obtaining target vehicle in target vehicle front bumper left side and the obstacle in its left side) simultaneously, then also need to increase step s108, specific as follows:
If when s108. detecting the left side of target vehicle or right side and having a target parking stall that meets parking space's condition, open on target vehicle steering indicating light that should target carriage position one side, again by the ECU of target vehicle according to the steering indicating light of described unlatching, judge that the target parking stall of the corresponding side of this steering indicating light is parking space;
If when detecting the left and right sides of target vehicle and having the target parking stall that meets parking space's condition, select and open on target vehicle steering indicating light that should target carriage position one side according to described selection by chaufeur, again by the ECU of target vehicle according to the steering indicating light of described unlatching, judge that the target parking stall of the corresponding side of this steering indicating light is parking space.
As shown in Figure 3, the present embodiment also provides a kind of parking space detection system, it comprises craspedodrome judging unit, first orientation judging unit, cross travel acquiring unit, longitudinal travel acquiring unit and control unit, and described control unit comprises cross travel comparison module, the first longitudinal travel comparison module, the second longitudinal travel comparison module, controls execution module.
Described execution judging unit is used for judging whether target vehicle keeps straight on, it comprises the ECU of steering wheel angle sensor and target vehicle, described steering wheel angle sensor is for the steering wheel angle of Real-time Obtaining target vehicle, and the steering wheel angle signal obtaining is sent in ECU, in ECU, be preset with angle range, when ECU receives after described steering wheel angle, by it with its in default angle range compare, when the described steering wheel angle receiving exceeds default angle range (10 °～+ 10 °), command direction dish angular transducer continues the steering wheel angle of Real-time Obtaining target vehicle, when the described steering wheel angle receiving is in default angle range, ECU instruction cross travel acquiring unit is started working.
Described first orientation judging unit is for judging left side or the right side of target parking stall in target vehicle, it comprises the ECU of steering indicating light and target vehicle, described steering indicating light adopts two, it is separately positioned on left side and the right side of target vehicle, described ECU is according to the unlatching of the steering indicating light on the left side of target vehicle or right side, judge left side or the right side of target parking stall in target vehicle, then instruction cross travel acquiring unit is started working accordingly.
Described cross travel acquiring unit is used for the transverse distance of Real-time Obtaining target parking stall, and exports the cross travel signal of described Real-time Obtaining to control unit.
Described longitudinal travel acquiring unit is used for the longitudinal travel of Real-time Obtaining target vehicle, and exports the longitudinal travel signal of described Real-time Obtaining to control unit.
In described cross travel comparison module, be preset with the target lateral value of target parking stall, it is for receiving the cross travel signal of cross travel acquiring unit output, and by the cross travel receiving and in it default target lateral value compare, then export comparative result to control execution module.
The target that is preset with target parking stall in described the first longitudinal travel comparison module is longitudinally worth, it is for receiving the longitudinal travel signal of longitudinal travel acquiring unit output, and by the longitudinal travel receiving and in it default target longitudinally value compare, then export comparative result to control execution module.
In described the second longitudinal travel comparison module, be preset with default longitudinal travel, it is for receiving the longitudinal travel signal of longitudinal travel acquiring unit output, and by the longitudinal travel receiving and in it default default longitudinal travel compare, then export comparative result to control execution module.
Described control execution module is for the cross travel of instruction cross travel acquiring unit Real-time Obtaining target parking stall, the meanwhile longitudinal travel of instruction longitudinal travel acquiring unit Real-time Obtaining target parking stall, described longitudinal travel acquiring unit is also for exporting the longitudinal travel signal of its Real-time Obtaining to second longitudinal travel comparison module, then the comparative result that described control execution module is exported respectively according to cross travel comparison module and the second longitudinal travel comparison module is determined the initial point of longitudinal travel, and obtaining the initial point moment longitudinal travel of instruction longitudinal travel acquiring unit Real-time Obtaining target vehicle again of longitudinal travel, and export the described longitudinal travel signal obtaining to first longitudinal travel comparison module, then judge according to the comparative result of the first longitudinal travel comparison module output whether target parking stall meets the condition of parking space.
In the present embodiment, described control unit adopts the ECU of target vehicle; Described cross travel acquiring unit comprises ultrasonic transduter, described ultrasonic transduter adopts two, left side and right side that it is separately positioned on the front bumper of target vehicle, be respectively used to the transverse distance between real-time measurement target vehicle and the obstacle on its left side or right side; Described longitudinal travel acquiring unit comprises the ECU in wheel speed sensors and target vehicle, and described wheel speed sensors is for exporting in real time pulse value; Described ECU is used for recording and adding up the pulse value of wheel speed sensors output, and calculates the longitudinal travel of target vehicle according to the pulse value of the gear signal of target vehicle, radius of wheel and described accumulative total.
Embodiment 2:
As shown in Fig. 5 (a), in the present embodiment, target parking stall is on the right side of target vehicle and between vehicle 1 and vehicle 2, and described parking space detection method comprises the steps:
S201～s206 is identical with the s101～s106 in embodiment 1, repeats no more here.
S207. target vehicle continues operation, start to obtain the process of target vehicle longitudinal travel D from described initial point, in the process of the pulse value of exporting at the ECU of target vehicle accumulative total wheel speed sensors shortly, continue the transverse distance between Real-time Obtaining target vehicle and the obstacle (curb or other obstacles) on right side, if described in the longitudinal travel that obtains | when D| is less than described target and is longitudinally worth, the transverse distance of described Real-time Obtaining becomes d2 (arriving the tailstock place of vehicle 1 in Fig. 5 (a)) from d1, and | d1-d2| is less than described target lateral value, if simultaneously target vehicle is become several transverse distances d2 continous-stable of ultrasonic transduter Real-time Obtaining described in the process that d2 started to move default longitudinal travel from described transverse distance from d1, set described transverse distance d2 as the initial reference value in parking position detection process.
S208. when described ultrasonic transduter Real-time Obtaining (arrives A1 place in Fig. 5 (a)) to the transverse distance between the obstacle (vehicle 1) on target vehicle and its right side when initial reference value d2 becomes d3, the obstacle on target vehicle right side becomes curb (or other obstacles) from vehicle 1, if | d3-d2| is more than or equal to described target lateral value, transverse distance is described | d3| meets described target lateral value, resetting described transverse distance position at target vehicle place when initial reference value d2 becomes d3 is initial point (A1 point place in Fig. 5 (a)).
S209. when described in target vehicle arrives, reset initial point (Fig. 5 (a) in A1 point place) time, the pulse value zero clearing of the wheel speed sensors output that ECU is first added up, then start to record and add up the pulse value of wheel speed sensors output, and calculate according to the pulse value of the gear signal of target vehicle, radius of wheel and described accumulative total the longitudinal travel D1 that target vehicle starts from initial point (A1 point in Fig. 5 (a)).
S210. target vehicle continues operation, start in the process of the longitudinal travel D1 that obtains target vehicle from the described initial point resetting (A1 point in Fig. 5 (a)), also be in the process of pulse value of the ECU accumulative total wheel speed sensors output of target vehicle, continue the transverse distance between Real-time Obtaining target vehicle and the obstacle (curb or other obstacles) on right side, when the longitudinal travel of described calculating | D1| is more than or equal to described target and is longitudinally worth, and the distance difference between the transverse distance d3 of described Real-time Obtaining and initial reference value d2 | when d3-d2| is more than or equal to described target lateral value all the time, arrive B1 place in Fig. 5 (a), described transverse distance is described | d3| meets described target lateral value and described longitudinal travel | and D1| meets described target and is longitudinally worth, judge that target parking stall (region in Fig. 5 (a) between A1 to B1) meets the condition of parking space, target parking stall detection process finishes.
Above-mentioned parking space detection method need to be prejudged left side or the right side of target parking stall in target vehicle by chaufeur, then just starts to carry out the detection process of this target parking stall.Here also can adopt without chaufeur and prejudge the left side of target parking stall in target vehicle or another method on right side, this kind of method is without carrying out above-mentioned steps s204, when the judged result of step s203 is when being, directly execution step s205～s210, and in the process of execution step s205～s210, also need the target parking stall of detection of a target vehicle left side (by being arranged on the distance between the ultrasonic transduter Real-time Obtaining target vehicle in target vehicle front bumper left side and the obstacle in its left side) simultaneously, then also need to increase step s211, specific as follows:
If when s211. detecting the left side of target vehicle or right side and having a target parking stall that meets parking space's condition, automatically open on target vehicle steering indicating light that should target carriage position one side, again by the ECU of target vehicle according to the steering indicating light of described unlatching, judge that the target parking stall of the corresponding side of this steering indicating light is parking space;
If when detecting the left and right sides of target vehicle and having the target parking stall that meets parking space's condition, by a target parking stall in chaufeur select target vehicle left side or right side, then open on target vehicle steering indicating light that should target carriage position one side according to described selection, again by the ECU of target vehicle according to the steering indicating light of described unlatching, judge that the target parking stall of the corresponding side of this steering indicating light is parking space.
In Fig. 5 (b), target parking stall is positioned at the right side of target vehicle and is positioned at the front of vehicle 1, and the front clear of target parking stall, and situation shown in this figure also can adopt parking space's detection method described in the present embodiment to complete the detection of target parking stall.
As shown in Figure 4, the present embodiment also provides a kind of parking space detection system, the difference of detection system described in this detection system and embodiment 1 is: described in the present embodiment, detection system does not comprise the first orientation judging unit in detection system described in embodiment 1, and has increased target parking stall selected cell and second orientation judging unit newly.Described second orientation judging unit comprises the ECU of steering indicating light and target vehicle, described steering indicating light adopts two, it is separately positioned on left side and the right side of target vehicle, described target parking stall selected cell for selecting one of them target parking stall in the time that control unit detects that target vehicle both sides all have the target parking stall that meets parking space's condition, open the steering indicating light of its respective side according to its selected target parking stall again, described ECU is according to the unlatching of this steering indicating light, the target parking stall of judging the corresponding side of this steering indicating light is parking space, or, described target parking stall selected cell is when detecting that when control unit there is a target parking stall that meets parking space's condition on the left side of target vehicle or right side, open the steering indicating light of its respective side according to the described target parking stall that meets parking space's condition, described ECU is according to the unlatching of this steering indicating light, the target parking stall of judging the corresponding side of this steering indicating light is parking space.
Other structures in the present embodiment and method are all identical with embodiment 1, repeat no more here.
Embodiment 3:
As shown in Figure 6, in the present embodiment, target parking stall is on the right side of target vehicle and between vehicle 2 and vehicle 3, and described parking space detection method comprises the steps:
S301～s309 is identical with the s201～s209 in embodiment 2, repeats no more here.
S310. target vehicle continues operation, start in the process of the longitudinal travel D1 that obtains target vehicle from the described initial point resetting (A1 point in Fig. 6), also be in the process of pulse value of the ECU accumulative total wheel speed sensors output of target vehicle, continue the transverse distance between Real-time Obtaining target vehicle and the obstacle (curb or other obstacles) on right side, when the described longitudinal travel obtaining | when D1| is less than described target and is longitudinally worth, the transverse distance of described Real-time Obtaining becomes d4 (arriving B1 place in Fig. 6) from d3, and | d3-d4| is less than described target lateral value, simultaneously target vehicle is become several transverse distances d4 continous-stable of ultrasonic transduter Real-time Obtaining described in the process that d4 started to move default longitudinal travel from described transverse distance from d3, reset described transverse distance d4 as the initial reference value in parking position detection process.
S311. when described ultrasonic transduter Real-time Obtaining is to the transverse distance between the obstacle (vehicle 2) on target vehicle and its right side (arriving A2 place in Fig. 6) when the described initial reference value d4 resetting becomes d5, the obstacle on target vehicle right side becomes curb (or other obstacles) from vehicle 2, if | d5-d4| is more than or equal to described target lateral value, transverse distance is described | d5| meets described target lateral value, and again resetting transverse distance position at target vehicle place when d4 becomes d5 is initial point (A2 point place in Fig. 6).
S312. when target vehicle arrive described in again reset initial point (A2 point place in Fig. 6) time, the pulse value zero clearing of the wheel speed sensors output that ECU is first added up, then start to record and add up the pulse value of wheel speed sensors output, and calculate according to the pulse value of the gear signal of target vehicle, radius of wheel and described accumulative total the longitudinal travel D2 that target vehicle starts from the described initial point again resetting (A2 point in Fig. 6).
S313. target vehicle continues operation, start in the process of the longitudinal travel D2 that obtains target vehicle from the described initial point again resetting (A2 point in Fig. 6), in the process of the pulse value of also exporting at ECU accumulative total wheel speed sensors, continue the transverse distance between Real-time Obtaining target vehicle and the obstacle (curb or other obstacles) on right side, when the longitudinal travel of described calculating | D2| is more than or equal to described target and is longitudinally worth, and the transverse distance d5 of described Real-time Obtaining and described in distance difference between the initial reference value d4 that resets | when d5-d4| is more than or equal to described target lateral value all the time, arrive B2 place in Fig. 6, described transverse distance is described | d5| meets described target lateral value and described longitudinal travel | and D2| meets described target and is longitudinally worth, judge that target parking stall (region in Fig. 6 between A2 to B2) meets the condition of parking space, target parking stall detection process finishes.
Above-mentioned parking space detection method need to be prejudged left side or the right side of target parking stall in target vehicle by chaufeur, then just starts to carry out the detection process of this target parking stall.Here also can adopt without chaufeur and prejudge the left side of target parking stall in target vehicle or another method on right side, this kind of method is without carrying out above-mentioned steps s304, when the judged result of step s303 is when being, directly execution step s305～s313, and in the process of execution step s305～s313, also need the target parking stall of detection of a target vehicle left side (by being arranged on the distance between the ultrasonic transduter Real-time Obtaining target vehicle in target vehicle front bumper left side and the obstacle in its left side) simultaneously, then also need to increase step s314, specific as follows:
If when s314. detecting the left side of target vehicle or right side and having a target parking stall that meets parking space's condition, automatically open on target vehicle steering indicating light that should target carriage position one side, again by the ECU of target vehicle according to the steering indicating light of described unlatching, judge that the target parking stall of the corresponding side of this steering indicating light is parking space;
If when detecting the left and right sides of target vehicle and having the target parking stall that meets parking space's condition, by a target parking stall in chaufeur select target vehicle left side or right side, then open on target vehicle steering indicating light that should target carriage position one side according to described selection, again by the ECU of target vehicle according to the steering indicating light of described unlatching, judge that the target parking stall of the corresponding side of this steering indicating light is parking space.
The present embodiment also provides a kind of parking space detection system, and this detection system is identical with detection system described in embodiment 2.
Other structures in the present embodiment and method are all identical with embodiment 1, repeat no more here.
Be understandable that, above embodiment is only used to principle of the present invention is described and the illustrative embodiments that adopts, but the present invention is not limited thereto.For those skilled in the art, without departing from the spirit and substance in the present invention, can make various modification and improvement, these modification and improvement are also considered as protection scope of the present invention.
Claims (15)
1. parking space's detection method, comprises the steps:
1) the target lateral value and the target that set in advance target parking stall are longitudinally worth;
2) determine the initial point of longitudinal travel: in the time that target vehicle moves, the cross travel of Real-time Obtaining target parking stall, and determine the initial point of the longitudinal travel that obtains target vehicle according to described cross travel;
3) judgement of parking space: start the longitudinal travel of Real-time Obtaining target vehicle from described initial point, in the time that the absolute value of described longitudinal travel is more than or equal to described target and is longitudinally worth, judge that target parking stall meets the condition of parking space;
Step 2) in determine that the initial point of longitudinal travel is: in the time that target vehicle moves, carry out the cross travel of Real-time Obtaining target parking stall by the transverse distance between Real-time Obtaining target vehicle and the obstacle of target parking stall one side, if several transverse distance continous-stables of target vehicle institute's Real-time Obtaining in the process that has moved default longitudinal travel and be all more than or equal to described target lateral value, set this moment the initial point of the longitudinal travel for obtaining target vehicle;
Step 3) in the judgement of parking space be: target vehicle continues operation, start the longitudinal travel of Real-time Obtaining target vehicle from described initial point, and in this process, continue the transverse distance between Real-time Obtaining target vehicle and the obstacle of the same side, target parking stall, when being more than or equal to described target, the absolute value of the described longitudinal travel obtaining is longitudinally worth, and when the absolute value of the transverse distance of described Real-time Obtaining is more than or equal to described target lateral value all the time, judge that target parking stall meets the condition of parking space.
2. detection method according to claim 1, is characterized in that, described step 3) further comprising the steps:
31) in the process of obtaining described longitudinal travel, in the time that the absolute value of the described longitudinal travel obtaining is less than described target and is longitudinally worth, transverse distance between the target vehicle of Real-time Obtaining and the same side, described target parking stall obstacle changes, and the absolute value of the difference of the transverse distance before the transverse distance after changing and variation is less than described target lateral value, if moved several transverse distance continous-stables of institute's Real-time Obtaining in the process of default longitudinal travel the moment that target vehicle changes from described transverse distance, the transverse distance of setting after described variation is initial reference value,
32) in the time that Real-time Obtaining changes again to the transverse distance between target vehicle and the same side, described target parking stall obstacle, if the absolute value of the transverse distance after again changing described and the difference of described initial reference value is more than or equal to described target lateral value, the longitudinal travel that the moment that Real-time Obtaining target vehicle changes again from described transverse distance starts, and reset this moment the initial point of the longitudinal travel for obtaining target vehicle;
33) target vehicle continues operation, restart the longitudinal travel of Real-time Obtaining target vehicle from the initial point resetting, and in this process, continue the transverse distance between Real-time Obtaining target vehicle and the obstacle of the same side, target parking stall, when being more than or equal to described target, the absolute value of the longitudinal travel again obtaining is longitudinally worth, and the absolute value of the difference of the transverse distance of described Real-time Obtaining and initial reference value is more than or equal to described target lateral value all the time, judge that target parking stall meets the condition of parking space, target parking stall detection process finishes; In the above-mentioned process that restarts the longitudinal travel of target vehicle described in Real-time Obtaining, if the transverse distance between the target vehicle of described Real-time Obtaining and the same side, target parking stall obstacle changes again, again perform step 31)～33), until find the region that meets parking space's condition.
3. detection method according to claim 1, is characterized in that step 1) and step 2) between be also provided with step 12):
12) judge left side or the right side of target parking stall in target vehicle.
4. detection method according to claim 3, is characterized in that, described step 12) be specially:
Judge left side or the right side of target parking stall in target vehicle by chaufeur, then doing judgement according to it opens on target vehicle steering indicating light that should target carriage position one side, again by the ECU in target vehicle according to the steering indicating light of described unlatching, start this steering indicating light the detection of target parking stall of a corresponding side, and perform step 2).
5. detection method according to claim 1, is characterized in that step 1) and step 2) between also include step 11):
11) detect in real time the steering wheel angle of target vehicle, if described steering wheel angle is zero or in default angle range, enter next step; If described steering wheel angle is non-vanishing or exceed default angle range, continue to detect in real time the steering wheel angle of target vehicle, until described steering wheel angle is zero or in default angle range.
6. detection method according to claim 5, is characterized in that, the detection of the steering wheel angle of described target vehicle is to be completed by the built-in steering wheel angle sensor of target vehicle; Described default angle range is-10 °～+ 10 °; Receive and judge whether the steering wheel angle that described steering wheel angle sensor is exported is in real time zero or in default angle range, is to be completed by the ECU of target vehicle; The target lateral value of described angle range and described target parking stall and target longitudinally value default in the ECU of target vehicle.
7. detection method according to claim 1, is characterized in that, also includes step 4):
If according to step 1)～step 3) when detecting the left side of target vehicle or right side and having a target parking stall that meets parking space's condition, open on target vehicle steering indicating light that should target carriage position one side, again by the ECU of target vehicle according to the steering indicating light of described unlatching, judge that the target parking stall of the corresponding side of this steering indicating light is parking space;
If according to step 1)～step 3) left and right sides of detecting target vehicle is while having the target parking stall that meets parking space's condition, select and open on target vehicle steering indicating light that should target carriage position one side according to described selection by chaufeur, again by the ECU of target vehicle according to the steering indicating light of described unlatching, judge that the target parking stall of the corresponding side of this steering indicating light is parking space.
8. according to the detection method one of claim 1-7 Suo Shu, it is characterized in that, described default longitudinal travel defaults in the ECU of target vehicle, and the scope of described default longitudinal travel is 1m～2m; Described transverse distance continous-stable refers to that the difference between the aviation value of each and described several transverse distances in several transverse distances of target vehicle Real-time Obtaining in the process that has moved default longitudinal travel is all no more than 5cm; In target vehicle operational process, if when target vehicle and the same side, described target parking stall clear, judge that now the distance between target vehicle and this obstacle is greater than described target lateral value.
9. according to the detection method one of claim 1-7 Suo Shu, it is characterized in that, the method for the longitudinal travel of described Real-time Obtaining target vehicle is:
Before the longitudinal travel of Real-time Obtaining target vehicle, first by the pulse value zero clearing of the wheel speed sensors output adding up in target vehicle;
In the time starting the longitudinal travel of Real-time Obtaining target vehicle, record and add up the pulse value of wheel speed sensors output;
Calculate again the longitudinal travel of target vehicle according to the pulse value of the gear signal of target vehicle, radius of wheel and described accumulative total.
10. parking space's detection system, is characterized in that, this system comprises cross travel acquiring unit, longitudinal travel acquiring unit and control unit,
Cross travel acquiring unit, for the transverse distance of Real-time Obtaining target parking stall, and exports the cross travel signal of described Real-time Obtaining to control unit;
Longitudinal travel acquiring unit, for the longitudinal travel of Real-time Obtaining target vehicle, and exports the longitudinal travel signal of described Real-time Obtaining to control unit;
Control unit, for the cross travel of instruction cross travel acquiring unit Real-time Obtaining target vehicle and the cross travel signal of reception cross travel acquiring unit output, and carry out accordingly the initial point of the longitudinal travel of determining target parking stall, while is at the longitudinal travel of initial point time instructions longitudinal travel acquiring unit Real-time Obtaining target vehicle, and receive the longitudinal travel signal that longitudinal travel acquiring unit is exported, then judge according to the longitudinal travel signal receiving whether described target parking stall meets the condition of parking space.
11. parking space according to claim 10 detection systems, it is characterized in that, described control unit includes cross travel comparison module, the first longitudinal travel comparison module and controls execution module, in described cross travel comparison module, be preset with the target lateral value of target parking stall, the target that is preset with target parking stall in described the first longitudinal travel comparison module is longitudinally worth
Described cross travel comparison module is for receiving the cross travel signal of cross travel acquiring unit output, and by the cross travel receiving and in it default target lateral value compare, then export comparative result to control execution module;
Described the first longitudinal travel comparison module is for receiving the longitudinal travel signal of longitudinal travel acquiring unit output, and the longitudinal travel receiving and the longitudinal value of target default in it are compared, then exports comparative result to control execution module;
Described control execution module is for the cross travel of instruction cross travel acquiring unit Real-time Obtaining target parking stall, then determine the initial point of the longitudinal travel that obtains target parking stall according to the comparative result of cross travel comparison module output, simultaneously obtaining the longitudinal travel of initial point time instructions longitudinal travel acquiring unit Real-time Obtaining target vehicle of longitudinal travel, then judging according to the comparative result of the first longitudinal travel comparison module output whether target parking stall meets the condition of parking space.
12. parking space according to claim 11 detection systems, is characterized in that, also include the second longitudinal travel comparison module in described control unit, in described the second longitudinal travel comparison module, are preset with default longitudinal travel,
Described the second longitudinal travel comparison module is for receiving the longitudinal travel signal of longitudinal travel acquiring unit output, and the longitudinal travel receiving and the default longitudinal travel of presetting in it are compared, then exports comparative result to control execution module;
Described control execution module is also for before determining the initial point of longitudinal travel, in the cross travel of instruction cross travel acquiring unit Real-time Obtaining target parking stall, the longitudinal travel of instruction longitudinal travel acquiring unit Real-time Obtaining target parking stall, and exporting the described longitudinal travel signal obtaining to second longitudinal travel comparison module, the comparative result of then exporting respectively according to cross travel comparison module and the second longitudinal travel comparison module is determined the initial point of longitudinal travel.
13. according to the parking space's detection system one of claim 10-12 Suo Shu, it is characterized in that, described control unit adopts the ECU of target vehicle;
Described cross travel acquiring unit comprises ultrasonic transduter, described ultrasonic transduter adopts two, left side and right side that it is separately positioned on the front bumper of target vehicle, be respectively used to the transverse distance between real-time measurement target vehicle and the obstacle on its left side or right side;
Described longitudinal travel acquiring unit comprises the ECU in wheel speed sensors and target vehicle, and described wheel speed sensors is for exporting in real time pulse value; Described ECU is used for recording and adding up the pulse value of wheel speed sensors output, and calculates the longitudinal travel of target vehicle according to the pulse value of the gear signal of target vehicle, radius of wheel and described accumulative total.
14. according to the parking space's detection system one of claim 10-12 Suo Shu, it is characterized in that,
In this system, also include for judging the left side of target parking stall in target vehicle or the first orientation judging unit on right side, described first orientation judging unit comprises the ECU of steering indicating light and target vehicle, described steering indicating light adopts two, it is separately positioned on left side and the right side of target vehicle, described ECU is according to the unlatching of the steering indicating light on the left side of target vehicle or right side, judge left side or the right side of target parking stall in target vehicle, then instruction cross travel acquiring unit is started working accordingly; Or,
In this system, also include second orientation judging unit and target parking stall selected cell, described second orientation judging unit comprises the ECU of steering indicating light and target vehicle, described steering indicating light adopts two, it is separately positioned on left side and the right side of target vehicle, described target parking stall selected cell for selecting one of them target parking stall in the time that control unit detects that target vehicle both sides all have the target parking stall that meets parking space's condition, open the steering indicating light of its respective side according to its selected target parking stall again, described ECU is according to the unlatching of this steering indicating light, the target parking stall of judging the corresponding side of this steering indicating light is parking space, or, described target parking stall selected cell is when detecting that when control unit there is a target parking stall that meets parking space's condition on the left side of target vehicle or right side, open the steering indicating light of its respective side according to the described target parking stall that meets parking space's condition, described ECU is according to the unlatching of this steering indicating light, the target parking stall of judging the corresponding side of this steering indicating light is parking space.
15. according to the parking space's detection system one of claim 10-12 Suo Shu, it is characterized in that, in described system, also include the craspedodrome judging unit for judging whether target vehicle keeps straight on, described craspedodrome judging unit comprises the ECU of steering wheel angle sensor and target vehicle, described steering wheel angle sensor is for the steering wheel angle of Real-time Obtaining target vehicle, and the steering wheel angle signal obtaining is sent in ECU, in ECU, be preset with angle range, when ECU receives after described steering wheel angle, by it with its in default angle range compare, when the described steering wheel angle receiving exceeds default angle range, command direction dish angular transducer continues the steering wheel angle of Real-time Obtaining target vehicle, when the described steering wheel angle receiving is in default angle range, ECU instruction cross travel acquiring unit is started working.
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