CN105774815A - High-adaptability human-computer interaction type intelligent parking method - Google Patents
High-adaptability human-computer interaction type intelligent parking method Download PDFInfo
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- CN105774815A CN105774815A CN201610128486.6A CN201610128486A CN105774815A CN 105774815 A CN105774815 A CN 105774815A CN 201610128486 A CN201610128486 A CN 201610128486A CN 105774815 A CN105774815 A CN 105774815A
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- 230000003993 interaction Effects 0.000 title claims abstract description 66
- 238000000034 method Methods 0.000 title claims abstract description 13
- 238000012545 processing Methods 0.000 claims abstract description 7
- 230000009471 action Effects 0.000 claims abstract description 5
- 238000001514 detection method Methods 0.000 claims abstract description 4
- 230000007613 environmental effect Effects 0.000 claims description 11
- 230000004888 barrier function Effects 0.000 claims description 6
- 208000010877 cognitive disease Diseases 0.000 claims description 3
- 238000012546 transfer Methods 0.000 claims description 3
- 230000008569 process Effects 0.000 abstract description 4
- 230000007812 deficiency Effects 0.000 description 3
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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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/085—Changing the parameters of the control units, e.g. changing limit values, working points by control input
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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
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
- B60W2050/146—Display means
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention discloses a high-adaptability human-computer interaction type intelligent parking method and belongs to the technical field of automobiles. A high-adaptability human-computer interaction type intelligent parking system comprises an environment collection module, a human-computer interaction module, a central processing unit module and an automobile motion control module. The environment collection module sends automobile surrounding environment information to the central processing unit module. The human-computer interaction module achieves recognition of a parking position and planning of a parking path by a driver through a touch screen. The central processing unit module is used for recognizing automobile surrounding environment and the parking position, planning the parking path and calculating automobile motion parameters. The automobile motion control module completes the parking action according to the automobile motion parameters provided by the central processing unit module. According to the parking system, the driver takes part in the parking link through human-computer interaction, the complexity degree of an environment detection algorithm is lowered, and the reliability of the parking process is improved.
Description
Technical field
The invention belongs to automobile technical field, be specifically related to a kind of high-adaptability man-machine interaction type intelligent parking method.
Background technology
Along with riseing year by year of automobile pollution, traffic congestion is serious all the more, and parking difficulty problem in big and medium-sized cities becomes increasingly conspicuous, and a lot of drivers feel to be difficult to control the technology of parking；Therefore, automated parking system has very strong market demand and the wide market space.
Many businesses and institutions have carried out the research and development to automated parking system, and this function have also been obtained application in existing medium-to-high grade passenger car vehicle.Sum up existing park scheme approximately as: open automatic parking function, and with speed per hour less than certain value (as: the region that speeds 35km/h) can berth excessively, now vehicle-mounted sensor-based system is started working；After detecting the parallel or vertical parking stall that can berth, system is based on the current location of automobile, target location and ambient parameter around, make automatic parking strategy, generate corresponding control command, vehicle is driven to appointment region by prompting driver, and prompting driver is stopped, is linked into R gear or automatically switches to R shelves subsequently；Actuator receives control command and controls Vehicular turn, longitudinally controlled in conjunction with driver, completes action of parking.
Existing parking system exist deficiency be embodied as following some:
1. existing automated parking system is only applicable to the specific parking space of the systemic presupposition such as parallel or vertical, it is impossible to realizes parking stall complicated, destructuring two mooring spaces and identifies and VEHICLES MUST PARK WITHIN THE MARKED BAY；
2. when running into barrier in process of parking, system can remind driver to take manual intervention, and then exits automatic parking process, and system not can completely perception itself is parked environment, and parking path is manually revised；
3., owing to true environment is complicated, not yet there is full-automatic unmanned parking system to be truly applied to automobile product at present.
Summary of the invention
For the deficiency that prior art exists, the present invention proposes a kind of high-adaptability man-machine interaction type intelligent parking method, driver's subjective initiative and parking system automatization characteristic are blended, makes up the deficiency of parking system Context awareness ability with the cognitive competence of driver.
For realizing above-mentioned technical purpose, the technical scheme is that
Step one, builds high-adaptability man-machine interaction type Intelligent parking system；
Step 2, entrance can behind parking areas, and driver according to demand, opens automated parking system, enters and seeks storehouse pattern；
Step 3, the unlatching of environment acquisition module, video camera and Laser Radar Scanning vehicle-surroundings environment, transfer data in CPU module；Context awareness unit in CPU module merges the data of photographic head and laser radar, generates environmental map the cognitive disorders thing of vehicle-surroundings；Parking stall recognition unit generates parking place square frame based on map of parking, and send human-computer interaction module to show；
Step 4, if driver thinks that the parking stall of acquiescence need not adjust, system directly generates parking path；When the parking stall of system default is unsatisfied with by driver, system allows for human-computer interaction interface by human-computer interaction module and parking place is adjusted, and driver can adjust parking place square frame on human-computer interaction interface；The result of driver certifying is fed back to the parking stall recognition unit in CPU module by human-computer interaction module, until driver certifying parking place is effective；
Step 5, the path planning unit in CPU module, based on parking place and the relative position from car, is calculated parking path, and is shown by human-computer interaction module；
Step 6, the parking path of display is confirmed by driver by human-computer interaction module, if the parking path that driver is to calculating is satisfied, is then directly entered next step；If the parking path of acquiescence is unreasonable, parking path can be adjusted by driver by human-computer interaction interface, and human-computer interaction module will confirm that result feeds back to the path planning unit of CPU module；Repeat step 5, until after driver certifying, entering next step；
Step 7, the vehicle movement parameter computing unit in CPU module, according to parking place, parking path and from truck position, calculates the motor control parameter of vehicle, and sends to vehicle motion control module, enter park mode；
Step 8, after vehicle motion control module receives vehicle motion control parameter, docks with power train, steering system so that vehicle, along the path movement of expection planning, can complete to park.
Further, in described human-computer interaction module, what parking stall recognition unit was detected by human-computer interaction module properly park, and interval square frame is shown on screen, when driver thinks that this boxed area needs to adjust, Man Machine Interface on available screen, is adjusted square frame of parking to pull, to rotate, in the way of convergent-divergent；The edge of the parking path that path planning unit is planned is shown on screen by human-computer interaction module, when driver thinks and there is barrier in this path domain, Man Machine Interface on available screen, to click " being labeled as barrier " mode, it is achieved parking path avoids specified link region.
Further, high-adaptability man-machine interaction type Intelligent parking system in described step one, including: environment acquisition module, human-computer interaction module, CPU module and vehicle motion control module；
Described CPU module includes: Context awareness unit, parking stall recognition unit, path planning unit and vehicle movement parameter computing unit；
Described environment acquisition module includes video camera and laser radar, and described video camera is all connected with CPU module with laser radar, the vehicle-surroundings environmental information of detection is converted into digital quantity, and is sent to CPU module；
Described human-computer interaction module, is used for showing and adjust parking place and parking path, realizes the mutual of driver and CPU module by touch screen；
The data that described CPU module processing environment acquisition module sends, generate park environmental map, parking place and parking path, and send to vehicle motion control module；
Described vehicle motion control module, for receiving the vehicle operating parameters that CPU module sends, controls vehicle and runs, complete action of parking.
Present invention have the beneficial effect that first, introduce the parking system after man-machine interaction and give full play to driver's subjective initiative in decision making process, overcome the problem that existing system environment sensing adaptability is not enough, expand the scope of application of automatic parking, improve efficiency of parking；Secondly, improve driver under the premise that security is guaranteed to what park and independently select right, improve Consumer's Experience.Universality of the present invention is strong, is particularly suited for the automatic parking under complicated unstructured road environment.
Accompanying drawing explanation
Fig. 1 is the structural representation of the present invention a kind of high-adaptability man-machine interaction type Intelligent parking system；
Fig. 2 is the workflow diagram of the present invention a kind of high-adaptability man-machine interaction type Intelligent parking system.
Detailed description of the invention
Below in conjunction with the drawings and specific embodiments, the present invention is further illustrated, but protection scope of the present invention is not limited to this.
Fig. 1 is the structural representation of the present invention a kind of high-adaptability man-machine interaction type Intelligent parking system, including: environment acquisition module 101, human-computer interaction module 102, CPU module 103 and vehicle motion control module 104；
Described CPU module 103 includes: Context awareness unit 1031, parking stall recognition unit 1032, path planning unit 1033 and vehicle movement parameter computing unit 1034；
Described environment acquisition module 101 is connected with CPU module 103, the vehicle-surroundings environmental information of detection is converted into digital quantity, and is sent to CPU module 103；
Described human-computer interaction module 102, is used for showing and adjust parking place and parking path, realizes the mutual of driver and CPU module 103 by touch screen；
The data that described CPU module 103 processing environment acquisition module 101 sends, generate park environmental map, parking place and parking path, and send to vehicle motion control module 104；
Described vehicle motion control module 104, for receiving the vehicle operating parameters that CPU module 103 sends, controls vehicle and runs, complete action of parking.
Described environment acquisition module 101 includes video camera and laser radar；Described video camera has four, is arranged near automobile headlamp and taillight；Described laser radar is one or more four line laser radars, is distributed in around vehicle body；Video camera and laser radar Real-time Collection vehicle-surroundings environmental information, and it is converted into digital quantity, it is sent to CPU module 103.
Described human-computer interaction module 102 is can the display module of multi-point touch；Environmental map of parking, parking place and the parking path that CPU module 103 is sent by described human-computer interaction module 102 is shown on human-computer interaction module 102 screen, and parking place and parking path are adjusted by driver by touch screen.
Fig. 2 is the workflow diagram of the present invention a kind of high-adaptability man-machine interaction type Intelligent parking system, including step:
Step one, builds high-adaptability man-machine interaction type Intelligent parking system as shown in Figure 1；
Step 2, entrance can behind parking areas, and driver according to demand, opens automated parking system, enters and seeks storehouse pattern；
Step 3, environment acquisition module 101 is opened, video camera and Laser Radar Scanning vehicle-surroundings environment, transfers data in CPU module 103；Context awareness unit 1031 in CPU module 103 merges the data of photographic head and laser radar, generates environmental map the cognitive disorders thing of vehicle-surroundings；Parking stall recognition unit 1032 generates parking place square frame based on map of parking, and send human-computer interaction module 102 to show；
Step 4, if driver thinks that the parking stall of acquiescence need not adjust, system directly generates parking path；When the parking stall of system default is unsatisfied with by driver, system is allowed for human-computer interaction interface by human-computer interaction module 102 parking place is adjusted, driver on human-computer interaction interface manually to pull, to rotate, parking place square frame is adjusted in the way of convergent-divergent；The result of driver certifying is fed back to the parking stall recognition unit 1032 in CPU module 103 by human-computer interaction module 102, until driver certifying parking place is effective；
Step 5, the path planning unit 1033 in CPU module 103, based on parking place and the relative position from car, is calculated parking path, and is shown by human-computer interaction module 102；
Step 6, the parking path of display is confirmed by driver by human-computer interaction module 102, if the parking path that driver is to calculating is satisfied, is then directly entered next step；If the parking path of acquiescence is unreasonable, driver can pass through human-computer interaction interface to click " being labeled as barrier " mode, realizing parking path and avoid specified link region, human-computer interaction module 102 will confirm that result feeds back to the path planning unit 1033 of CPU module 103；Repeat step 5, until after driver certifying, entering next step；
Step 7, the vehicle movement parameter computing unit 1034 in CPU module 103, according to parking place, parking path and from truck position, calculates the motor control parameter of vehicle, and sends to vehicle motion control module 104, enter park mode；
Step 8, after vehicle motion control module 104 receives vehicle motion control parameter, docks with power train, steering system so that vehicle, along the path movement of expection planning, can complete to park.
Each link is as broken down above, and CPU module 103 will be reported an error to driver by human-computer interaction interface, and prompting driver carries out the artificial interference of necessity according to failure cause.
Above a kind of high-adaptability man-machine interaction type intelligent parking method provided by the present invention is described in detail, apply specific case herein principles of the invention and embodiment are set forth, to be described is, the foregoing is only presently preferred embodiments of the present invention, not in order to limit the present invention.All any amendment, equivalent replacement and improvement etc. made within the spirit and principles in the present invention, should be included within protection scope of the present invention.
Claims (3)
1. a high-adaptability man-machine interaction type intelligent parking method, it is characterised in that comprise the following steps:
Step one, builds high-adaptability man-machine interaction type Intelligent parking system；
Step 2, entrance can behind parking areas, and driver according to demand, opens automated parking system, enters and seeks storehouse pattern；
Step 3, environment acquisition module (101) unlatching, video camera and Laser Radar Scanning vehicle-surroundings environment, transfer data in CPU module (103)；Context awareness unit (1031) in CPU module (103) merges the data of video camera and laser radar, generates environmental map the cognitive disorders thing of vehicle-surroundings；Parking stall recognition unit (1032) generates parking place square frame based on map of parking, and send human-computer interaction module (102) to show；
Step 4, if driver thinks that the parking stall of acquiescence need not adjust, system directly generates parking path；When the parking stall of system default is unsatisfied with by driver, system allows for human-computer interaction interface by human-computer interaction module (102) and parking place is adjusted, and driver adjusts parking place square frame on human-computer interaction interface；The result of driver certifying is fed back to the parking stall recognition unit (1032) in CPU module (103) by human-computer interaction module (102), until driver certifying parking place is effective；
Step 5, the path planning unit (1033) in CPU module (103), based on parking place and the relative position from car, calculates parking path, and by human-computer interaction module (102) display；
Step 6, the parking path of display is confirmed by driver by human-computer interaction module (102), if the parking path that driver is to calculating is satisfied, is then directly entered next step；If the parking path of acquiescence is unreasonable, parking path can be adjusted by driver by human-computer interaction interface, and human-computer interaction module (102) will confirm that result feeds back to the path planning unit (1033) of CPU module (103)；Repeat step 5, until after driver certifying, entering next step；
Step 7, vehicle movement parameter computing unit (1034) in CPU module (103) is according to parking place, parking path and from truck position, calculate the motor control parameter of vehicle, and send to vehicle motion control module (104), enter park mode；
Step 8, vehicle motion control module (104) is docked with power train, steering system after receiving vehicle motion control parameter so that vehicle, along the path movement of expection planning, can complete to park.
2. a kind of high-adaptability man-machine interaction type intelligent parking method according to claim 1, it is characterized in that, in described human-computer interaction module (102), the interval square frame of properly parking that parking stall recognition unit (1032) is detected by human-computer interaction module (102) is shown on screen, when driver thinks that this boxed area needs to adjust, Man Machine Interface on available screen, is adjusted square frame of parking to pull, to rotate, in the way of convergent-divergent；The parking path that path planning unit (1033) is planned is shown on screen by human-computer interaction module (102), when driver thinks and there is barrier in this path domain, Man Machine Interface on available screen, to click " being labeled as barrier " mode, it is achieved parking path avoids specified link region.
3. a kind of high-adaptability man-machine interaction type intelligent parking method according to claim 1, it is characterized in that, high-adaptability man-machine interaction type Intelligent parking system in described step one, including: environment acquisition module (101), human-computer interaction module (102), CPU module (103) and vehicle motion control module (104)；
Described CPU module (103) including: Context awareness unit (1031), parking stall recognition unit (1032), path planning unit (1033) and vehicle movement parameter computing unit (1034)；
Described environment acquisition module (101) includes video camera and laser radar, described video camera is all connected with CPU module (103) with laser radar, the vehicle-surroundings environmental information of detection is converted into digital quantity, and is sent to CPU module (103)；
Described human-computer interaction module (102), is used for showing and adjust parking place and parking path, realizes the mutual of driver and CPU module (103) by touch screen；
The data that described CPU module (103) processing environment acquisition module (101) sends, generate park environmental map, parking place and parking path, and send to vehicle motion control module (104)；
Described vehicle motion control module (104), is used for receiving the vehicle operating parameters that CPU module (103) sends, and controls vehicle and runs, completes action of parking.
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Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106467131A (en) * | 2016-08-31 | 2017-03-01 | 东风汽车公司 | Parking assisting system based on electric boosting steering system and method |
| CN108181906A (en) * | 2018-01-07 | 2018-06-19 | 珠海上富电技股份有限公司 | One kind is parked supplementary controlled system and method |
| CN108773374A (en) * | 2018-06-13 | 2018-11-09 | 禾多科技（北京）有限公司 | It parks method and device |
| CN108944915A (en) * | 2018-07-13 | 2018-12-07 | 广东工业大学 | A kind of automatic parking method, system and computer readable storage medium |
| CN109278744A (en) * | 2018-10-24 | 2019-01-29 | 广州小鹏汽车科技有限公司 | A kind of automatic parking method and vehicle control system |
| CN109693666A (en) * | 2019-02-02 | 2019-04-30 | 中国第一汽车股份有限公司 | A kind of man-machine interactive system and method for parking for parking |
| CN109843688A (en) * | 2016-10-13 | 2019-06-04 | 日产自动车株式会社 | Self-position estimates method and self-position estimating device |
| CN110096204A (en) * | 2019-04-30 | 2019-08-06 | 禾多科技（北京）有限公司 | Man-machine interaction method with data visualization function |
| CN110386135A (en) * | 2018-04-16 | 2019-10-29 | 比亚迪股份有限公司 | Automatic parking control device, system, vehicle and method |
| CN110654375A (en) * | 2018-06-29 | 2020-01-07 | 比亚迪股份有限公司 | Automatic parking method, device and system and vehicle |
| CN110803158A (en) * | 2019-11-26 | 2020-02-18 | 奇瑞汽车股份有限公司 | Automatic parking path planning man-machine interaction method and system |
| CN111016888A (en) * | 2019-12-27 | 2020-04-17 | 奇瑞汽车股份有限公司 | Parking control method and device for automobile and storage medium |
| WO2021022758A1 (en) * | 2019-08-02 | 2021-02-11 | 广东小鹏汽车科技有限公司 | Method for adjusting planned parking path, and device |
| CN112633543A (en) * | 2019-10-08 | 2021-04-09 | 北京京东乾石科技有限公司 | Parking path planning method and device for unmanned delivery vehicle in unstructured scene |
| CN112874511A (en) * | 2021-02-07 | 2021-06-01 | 奇瑞汽车股份有限公司 | Automatic driving control method and device for automobile and computer storage medium |
| WO2022002049A1 (en) * | 2020-06-29 | 2022-01-06 | 广州橙行智动汽车科技有限公司 | Three-dimensional parking-based interactive method and vehicle |
| CN113928309A (en) * | 2021-11-24 | 2022-01-14 | 纵目科技（上海）股份有限公司 | Automatic parking method, system, device and computer readable storage medium |
| WO2022205357A1 (en) * | 2021-04-01 | 2022-10-06 | 深圳市大疆创新科技有限公司 | Autonomous driving control method, electronic device, mobile terminal, and vehicle |
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| CN109843688A (en) * | 2016-10-13 | 2019-06-04 | 日产自动车株式会社 | Self-position estimates method and self-position estimating device |
| CN108181906A (en) * | 2018-01-07 | 2018-06-19 | 珠海上富电技股份有限公司 | One kind is parked supplementary controlled system and method |
| CN110386135A (en) * | 2018-04-16 | 2019-10-29 | 比亚迪股份有限公司 | Automatic parking control device, system, vehicle and method |
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| CN108773374A (en) * | 2018-06-13 | 2018-11-09 | 禾多科技（北京）有限公司 | It parks method and device |
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Application publication date: 20160720 |