CN108230735A - A kind of self-stopping system and method for vehicle - Google Patents
A kind of self-stopping system and method for vehicle Download PDFInfo
- Publication number
- CN108230735A CN108230735A CN201810092263.8A CN201810092263A CN108230735A CN 108230735 A CN108230735 A CN 108230735A CN 201810092263 A CN201810092263 A CN 201810092263A CN 108230735 A CN108230735 A CN 108230735A
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- China
- Prior art keywords
- vehicle
- parking
- unit
- stopping
- travelling route
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/005—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 with correlation of navigation data from several sources, e.g. map or contour matching
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/14—Traffic control systems for road vehicles indicating individual free spaces in parking areas
- G08G1/141—Traffic control systems for road vehicles indicating individual free spaces in parking areas with means giving the indication of available parking spaces
- G08G1/143—Traffic control systems for road vehicles indicating individual free spaces in parking areas with means giving the indication of available parking spaces inside the vehicles
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Traffic Control Systems (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
The invention discloses a kind of self-stopping system of vehicle, including：Panoramic table unit, for the scene on 360 degree of the periphery of positioning scanning based on vehicle, to establish the plane scene in the preset range centered on vehicle；Parking stall determination unit, for determining one or more parking stalls in plane scene, and according to the multiple parking stalls of predetermined condition arranged in sequence；Route planning unit, for planning that vehicle enters the travelling route on selected parking stall, travelling route includes the vehicle control information of travel track and corresponding travel track, and vehicle control information includes gear information, the steering wheel angle information of respective notch information of vehicle；Automatic stopping unit, for responding selected travelling route, so that vehicle enters parking stall according to travelling route；Brake unit, for stopping the movement of vehicle, the priority of brake unit is higher than automatic stopping unit.The present invention can improve the parking efficiency of driver, reduce parking difficulty.
Description
Technical field
The present invention relates to vehicle parking technical field, more particularly to a kind of self-stopping system and method for vehicle.
Background technology
With the sustainable growth of the city vehicle volume of holding, the searching of city parking stall and the stop problem of vehicle are more and more prominent
Go out.Moreover, the searching on parking stall and vehicle is accurately parked in parking stall, the two is always to perplex the difficulty of most of driver
Topic.At present, driver relies primarily on vision, experience and radar for backing car when being stopped.It is even insufficient for parking experience
Driving new hand for, stop on the parking stall of congestion particularly difficult.
Invention content
The technical problem to be solved in the present invention is to provide a kind of self-stopping system and methods of vehicle, are driven with improving
The parking efficiency of member reduces parking difficulty.
In order to solve the above-mentioned technical problem, the technical scheme is that：A kind of self-stopping system of vehicle, including：
Panoramic table unit, for the scene on 360 degree of the periphery of positioning scanning based on vehicle, to establish centered on vehicle
Preset range in plane scene；
Parking stall determination unit for determining one or more parking stalls in the plane scene, and is pressed according to predetermined condition
Sequence arranges the multiple parking stall；
Route planning unit, for planning that vehicle enters the travelling route on the selected parking stall, the travelling route
Vehicle control information including travel track and the corresponding travel track, the gear that the vehicle control information includes vehicle are believed
The steering wheel angle information of breath, the corresponding gear information；
Automatic stopping unit, for responding the selected travelling route, so that the vehicle is according to the traveling road
Line enters the parking stall；
Brake unit, for stopping the movement of the vehicle, the priority of the brake unit is higher than the automatic stopping
Unit.
Preferably, the panoramic table unit further includes link module, and the link module is for active and underground parking
The control terminal connection of field, to obtain the plane map of the underground parking and real-time parking space information.
Preferably, vehicle body control unit is further included, for when starting the automatic stopping unit, starting the prompting of vehicle
Lamp and prompt tone.
According to another aspect of the present invention, the present invention also provides a kind of self-stopping method of vehicle, including following
Step：
S1：Establish the plane scene in the preset range centered on vehicle；
S2：Determine one or more parking stalls in the plane scene, and the multiple according to predetermined condition arranged in sequence
Parking stall；
S3：Select a parking stall；
S4：Plan that vehicle enters the travelling route on the selected parking stall, the travelling route include travel track and
The vehicle control information of the corresponding travel track；
S5：The selected travelling route of response, so that the vehicle enters the parking according to the travelling route
Position；
Wherein, the vehicle control information includes the steering wheel angle of the gear information of vehicle, the corresponding gear information
Information.
Preferably, it is further comprising the steps of before S1：
S101：Actively connect with the control terminal of underground parking, with obtain the plane map of the underground parking with
Real-time parking space information.
Preferably, it is further comprising the steps of between S4 and S5：
S501：Start the warning light and prompt tone of vehicle.
Compared with prior art, the beneficial effects of the present invention are：Parking stall can be actively found, and to the traveling of parking
Route is planned, is reduced the searching difficulty on parking stall and the parking difficulty of congested area, is improved driving experience.
Description of the drawings
Some specific embodiments of detailed description of the present invention by way of example rather than limitation with reference to the accompanying drawings hereinafter.
Identical reference numeral denotes same or similar component or part in attached drawing.It should be appreciated by those skilled in the art that these
What attached drawing was not necessarily drawn to scale.In attached drawing：
Fig. 1 is a kind of schematic diagram of the self-stopping system of vehicle of the present invention；
Fig. 2 is a kind of flow chart of the self-stopping method of vehicle of the present invention.
Specific embodiment
The specific embodiment of the present invention is described further below in conjunction with the accompanying drawings.It should be noted that for
The explanation of these embodiments is used to help understand the present invention, but do not form limitation of the invention.It is in addition, disclosed below
The each embodiment of the present invention in involved technical characteristic can be combined with each other as long as they do not conflict with each other.
As shown in Figure 1, the self-stopping system of vehicle of the present invention, the main panoramic table list included for preconsolidation stress
Member, parking stall determination unit, route planning unit, for automatic stopping unit, the vehicle body control unit of execution, are also useful for third
Side controls, avoids unexpected brake unit.
First, it is prepared to stop positioned at interior driver, starts the self-stopping system of the present invention.Panoramic table unit
The scene on 360 degree of the periphery of positioning scanning based on vehicle, scan mode can be GPS positioning, ultrasonic sensor and panorama
The combination of camera, so as to establish the plane scene in the preset range centered on vehicle.If vehicle is in underground parking
Interior, positioning signal is faint, then vehicle can be actively whole with the control of underground parking by the link module of panoramic table unit
End connection to obtain the plane map of the underground parking and real-time parking space information, so as to reduce the time of parking stall calculating, carries
High self-stopping efficiency.
On the basis of the plane scene of acquisition, parking stall determination unit can determine one or more in the plane scene
Parking stall.These parking stalls disclosure satisfy that this vehicle stops into required vehicle travel space completely.If multiple parkings
Position, then parking stall determination unit can be according to the multiple parking stall of predetermined condition arranged in sequence.Predetermined condition can be and this vehicle
Distance, parking stall space size etc..Driver can as needed select predetermined condition.
On the basis of selected parking stall, route planning unit can plan that vehicle enters the selected parking stall
Travelling route.The travelling route includes the vehicle control information of travel track and the corresponding travel track.Travel track exists
Level parks and carries out automatic optimum selecting in mode and vertical mode of parking.Vehicle control information is included in vehicle and operates in driving
When on track, required gear information, steering wheel angle information, speed information etc..
In response to above-mentioned selected parking stall, selected travelling route, automatic stopping unit can control the vehicle to press
Enter the parking stall a step by a step according to the travelling route and vehicle control information.Moreover, in order to remind the personnel outside vehicle,
When starting the automatic stopping unit, the warning light and prompt tone of the vehicle body control unit synchronous averaging vehicle of vehicle.In addition, it is
It avoids calculating and malfunction, the present invention is additionally provided with the brake unit as emergency facilities.The priority of the brake unit is higher than
The automatic stopping unit.Once driver has found that situation is not right, it can start and brake list for stopping the movement of the vehicle
Member.
As shown in Fig. 2, the relationship based on above-mentioned each unit stent, according to another aspect of the present invention, the present invention also carry
A kind of self-stopping method of vehicle has been supplied, has been included the following steps：
S1：Establish the plane scene in the preset range centered on vehicle；
S2：Determine one or more parking stalls in the plane scene, and the multiple according to predetermined condition arranged in sequence
Parking stall；
S3：Select a parking stall；
S4：Plan that vehicle enters the travelling route on the selected parking stall, the travelling route include travel track and
The vehicle control information of the corresponding travel track；
S5：The selected travelling route of response, so that the vehicle enters the parking according to the travelling route
Position.
Therefore, by above-mentioned S1 to S5 the step of, vehicle can actively search out parking stall, and plan into parking stall
Travelling route reduces the searching difficulty on parking stall and the parking difficulty of congested area, improves driving experience.
The further comprising the steps of S101 before S1：It is actively connect with the control terminal of underground parking, with described in acquisition
The plane map of underground parking and real-time parking space information.If vehicle, in underground parking, positioning signal is faint, then vehicle
It can actively be connect by the link module of panoramic table unit with the control terminal of underground parking, to obtain the underground
The plane map in parking lot and real-time parking space information so as to reduce the time of parking stall calculating, improve self-stopping efficiency.Cause
This,
Between S4 and S5, further comprising the steps of S501：Start the warning light and prompt tone of vehicle.In order to remind outside vehicle
Personnel, when starting the automatic stopping unit, the warning light of the vehicle body control unit synchronous averaging vehicle of vehicle and prompting
Sound.
Embodiments of the present invention are explained in detail above in association with attached drawing, but the present invention is not limited to described implementations
Mode.For a person skilled in the art, in the case where not departing from the principle of the invention and spirit, to these embodiments
A variety of change, modification, replacement and modification are carried out, are still fallen in protection scope of the present invention.
Claims (6)
1. a kind of self-stopping system of vehicle, which is characterized in that including：
Panoramic table unit, it is pre- centered on vehicle to establish for the scene on 360 degree of the periphery of positioning scanning based on vehicle
Determine the plane scene in range；
Parking stall determination unit for determining one or more parking stalls in the plane scene, and is sequentially arranged according to predetermined condition
Arrange the multiple parking stall；
Route planning unit, for planning that vehicle enters the travelling route on the selected parking stall, the travelling route includes
The vehicle control information of travel track and the corresponding travel track, gear information of the vehicle control information including vehicle,
The steering wheel angle information of the corresponding gear information；
Automatic stopping unit, for responding the selected travelling route so that the vehicle according to the travelling route into
Enter the parking stall；
Brake unit, for stopping the movement of the vehicle, the priority of the brake unit is higher than the automatic stopping unit.
2. the self-stopping system of a kind of vehicle according to claim 1, which is characterized in that the panoramic table unit is also
Including link module, the link module is stopped for actively being connect with the control terminal of underground parking with obtaining the underground
The plane map in parking lot and real-time parking space information.
3. the self-stopping system of a kind of vehicle according to claim 1 or 2, which is characterized in that further include Body Control
Unit, for when starting the automatic stopping unit, starting the warning light and prompt tone of vehicle.
A kind of 4. self-stopping method of vehicle, which is characterized in that include the following steps：
S1：Establish the plane scene in the preset range centered on vehicle；
S2：Determine one or more parking stalls in the plane scene, and according to the multiple parking of predetermined condition arranged in sequence
Position；
S3：Select a parking stall；
S4：Plan that vehicle enters the travelling route on the selected parking stall, the travelling route includes travel track and correspondence
The vehicle control information of the travel track；
S5：The selected travelling route of response, so that the vehicle enters the parking stall according to the travelling route；
Wherein, the vehicle control information includes the gear information of vehicle, the steering wheel angle information of the corresponding gear information.
5. a kind of self-stopping method of vehicle according to claim 4, which is characterized in that further included before S1 following
Step：
S101：Actively connect with the control terminal of underground parking, to obtain the plane map of the underground parking and real-time
Parking space information.
6. a kind of self-stopping method of vehicle according to claim 4 or 5, which is characterized in that between S4 and S5, also
Include the following steps：
S501：Start the warning light and prompt tone of vehicle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810092263.8A CN108230735A (en) | 2018-01-30 | 2018-01-30 | A kind of self-stopping system and method for vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810092263.8A CN108230735A (en) | 2018-01-30 | 2018-01-30 | A kind of self-stopping system and method for vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108230735A true CN108230735A (en) | 2018-06-29 |
Family
ID=62670048
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810092263.8A Pending CN108230735A (en) | 2018-01-30 | 2018-01-30 | A kind of self-stopping system and method for vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108230735A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108961834A (en) * | 2018-09-05 | 2018-12-07 | 绵阳鹏志远科技有限公司 | A kind of underground parking Car park payment processing method |
| CN110942665A (en) * | 2019-12-16 | 2020-03-31 | 驭势科技（北京）有限公司 | Vehicle positioning method, vehicle-mounted equipment and storage medium |
| CN111775931A (en) * | 2019-04-03 | 2020-10-16 | 北京宝沃汽车有限公司 | Automatic parking method and device and vehicle |
| CN112469599A (en) * | 2018-07-09 | 2021-03-09 | 三菱电机株式会社 | Parking assistance device and parking assistance method |
-
2018
- 2018-01-30 CN CN201810092263.8A patent/CN108230735A/en active Pending
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112469599A (en) * | 2018-07-09 | 2021-03-09 | 三菱电机株式会社 | Parking assistance device and parking assistance method |
| CN108961834A (en) * | 2018-09-05 | 2018-12-07 | 绵阳鹏志远科技有限公司 | A kind of underground parking Car park payment processing method |
| CN108961834B (en) * | 2018-09-05 | 2019-09-20 | 湖北亘华工科有限公司 | A kind of underground parking Car park payment processing method |
| CN111775931A (en) * | 2019-04-03 | 2020-10-16 | 北京宝沃汽车有限公司 | Automatic parking method and device and vehicle |
| CN110942665A (en) * | 2019-12-16 | 2020-03-31 | 驭势科技（北京）有限公司 | Vehicle positioning method, vehicle-mounted equipment and storage medium |
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| PB01 | Publication | ||
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Application publication date: 20180629 |