CN108609011B - Prevent blocking parking device and have vehicle of preventing blocking parking device - Google Patents
Prevent blocking parking device and have vehicle of preventing blocking parking device Download PDFInfo
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- CN108609011B CN108609011B CN201611147104.0A CN201611147104A CN108609011B CN 108609011 B CN108609011 B CN 108609011B CN 201611147104 A CN201611147104 A CN 201611147104A CN 108609011 B CN108609011 B CN 108609011B
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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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Abstract
The application discloses prevent blocking parking device and have this vehicle of preventing blocking parking device, prevent blocking parking device includes: an acquisition unit configured to acquire boundary information of objects around a self vehicle in a parking place, the objects around the self vehicle including a parked vehicle; the calculation unit is connected with the acquisition unit and is configured to determine a parking area according to the boundary information acquired by the acquisition unit and simulate all possible motion tracks of parked vehicles around the parking area when the own vehicle is located at an initial preset position in the parking area, and the calculation unit is further configured to determine that the blockage occurs if at least one parked vehicle does not have the motion track of the parked vehicle; and the output interface is connected with the computing unit and is configured to output the information of the occurrence of the blockage sent by the computing unit. The anti-blocking parking device can avoid blocking in a parking place so that all parked vehicles can drive away from the parking place conveniently.
Description
Technical Field
The invention relates to an anti-blocking parking device and a vehicle with the same.
Background
In the prior art, vehicles are generally equipped with an automatic parking assistance system, which adjusts the state of the vehicle mainly according to information detected by a sensor or picture information shot by a camera and driver operation information, so that the vehicle finds a proper path in the parking process, thereby assisting a user of the vehicle to park the vehicle at a certain parking position.
However, it is not enough to park the vehicle in a parking position, and if the vehicle blocks the path of other parked vehicles from the parking place, or blocks the path of the vehicle from the parking place when other vehicles to be parked are parked in a parking position, the vehicle may block the parking place. If the user of the vehicle has left the parking place, it may be necessary to return to the vehicle to adjust the parking position again, which is very inconvenient for the user.
Disclosure of Invention
In view of the above, the present invention is directed to an anti-jamming parking device, which at least can assist a user to park a vehicle in a proper parking position.
According to a first aspect of the present invention, there is provided an anti-jamming parking apparatus, which may include: an acquisition unit configured to acquire boundary information of objects around a self-vehicle in a parking place, the objects around the self-vehicle including a parked vehicle; the calculation unit is connected with the acquisition unit and is configured to determine a parking area according to the boundary information acquired by the acquisition unit and simulate all possible motion tracks of parked vehicles around the parking area when the vehicle is located at an initial preset position in the parking area, and the calculation unit is further configured to determine that blockage occurs if at least one parked vehicle does not have the motion track of the parked vehicle; an output interface connected with the computing unit and configured to output the information of the occurrence of the blocking sent by the computing unit.
Preferably, the calculation unit may be configured to simulate all possible movement trajectories of the parked vehicle out of the parking area based on the forward position, the reverse position and the steering position information of different angles of the parked vehicle.
Preferably, the calculation unit may determine whether a jam occurs according to whether there is an overlapping area between all possible movement trajectories of each parked vehicle leaving the parking place and parked vehicles around the same.
Preferably, the calculation unit may be further configured to, if a jam occurs in the parking place, select another predetermined position for the own vehicle in the parking area, and simulate all possible movement trajectories of the parked vehicle around the own vehicle out of the parking place on the assumption that the own vehicle is located at the another predetermined position, and determine whether a jam occurs around the own vehicle when the own vehicle is located at the another predetermined position.
Preferably, the calculation unit may be further configured to determine that the other predetermined position is the target parking position if no blockage occurs around the own vehicle when the own vehicle is located at the other predetermined position; and the output interface outputs information of the target parking position.
Preferably, the calculation unit may be further configured to select a next predetermined position for the own vehicle if a jam occurs around the own vehicle when the own vehicle is located at the another predetermined position.
Preferably, the anti-jamming parking apparatus may further include a counter for recording the number of times the predetermined position is calculated for the own vehicle by the calculating unit, and ending the calculation if the number of times is greater than a threshold value.
Preferably, the anti-jamming parking device may further include a memory for storing a predetermined position within the parking area, and if the predetermined position has been selected, the calculation is ended.
Preferably, the anti-blocking parking device may further include a reminding device connected to the output interface, for reminding a user of the vehicle according to information output by the output interface.
Preferably, the reminding unit may be configured to remind the user of the own vehicle of traveling to another parking area if the target parking position is not determined after the calculation is finished by the calculating unit.
Preferably, the initial predetermined position may be a selected position within the drive zone, or a current position of the own vehicle within the drive zone, or a position determined by an automatic parking assist system of the own vehicle.
Preferably, the anti-jamming parking device may further include a detection device connected to the acquisition unit for detecting a boundary of an object around the own vehicle.
Preferably, the detection device may be one or a combination of several of an ultrasonic sensor, a radar sensor, a laser sensor or an image sensor.
According to a second aspect of the present invention, there is also provided another anti-jamming parking apparatus, which may include: an acquisition unit configured to acquire boundary information of objects around a self-vehicle in a parking place, the objects around the self-vehicle including a parked vehicle; the calculation unit is connected with the acquisition unit, is configured to determine a parking area according to the boundary information acquired by the acquisition unit, and simulates all possible motion tracks of the self vehicle leaving the parking place when the self vehicle is parked and a vehicle to be parked around the self vehicle enters the parking place, and is further configured to determine that the self vehicle is blocked if the self vehicle does not have the possible motion tracks of leaving the parking place; an output interface connected to the calculation unit and configured to output the information that the own vehicle is blocked, which is sent by the calculation unit.
Preferably, the calculation unit may be configured to simulate all possible movement trajectories of the own vehicle away from the parking place based on the forward position, the backward position, and the steering position information of different angles of the own vehicle.
Preferably, the calculation unit may determine whether the own vehicle is jammed according to whether there is an overlapping area between all possible motion trajectories of the own vehicle that are simulated to leave the parking place and a vehicle to be parked around the own vehicle.
Preferably, the anti-blocking parking device may further include a reminding device connected to the output interface, for reminding a user of the vehicle according to information output by the output interface.
Preferably, the reminding unit may be further configured to remind a user of a vehicle to be parked around the own vehicle if the output interface outputs the information that the own vehicle is blocked.
According to a third aspect of the present invention, there is provided a vehicle that may have the anti-jamming parking apparatus as described above.
The invention provides an anti-blocking parking device which can assist users of own vehicles and other vehicles to be parked to avoid blocking while finding a target parking position so as to facilitate all parked vehicles to leave a parking place.
Drawings
Further advantages, features and details of the invention will become apparent from the claims and the following description of a preferred embodiment based on the drawings. Wherein:
fig. 1 is a schematic block diagram of an anti-jamming parking apparatus according to embodiment 1 of the present invention;
fig. 2 is a schematic view showing the occurrence of a jam in other parked vehicles around the own vehicle according to embodiment 1 of the invention;
fig. 3 is a schematic view showing that no jam has occurred in other parked vehicles around the own vehicle according to embodiment 1 of the invention;
fig. 4 is a schematic block diagram of an anti-jamming parking apparatus according to embodiment 2 of the present invention;
fig. 5 shows a schematic view in which the own vehicle is blocked in the parking lot according to embodiment 2 of the present invention.
Detailed Description
The following discussion of the anti-jamming parking device in the context of embodiments of the invention in more detail is merely exemplary in nature, and is in no way intended to limit the invention or its applications or uses.
Example 1
Fig. 1 is a schematic block diagram of an anti-jamming parking apparatus according to embodiment 1 of the present invention. As shown in fig. 1, the anti-jamming parking apparatus 100 includes: an acquisition unit 110, a calculation unit 120 and an output interface 130.
The acquisition unit 110 is configured to acquire boundary information of objects around the own vehicle in the parking place, the objects including the parked vehicle.
The calculating unit 120 is connected to the acquiring unit 110, configured to determine a parking area according to the boundary information acquired by the acquiring unit, and simulate movement trajectories of all possible vehicles parked around the parking area when the own vehicle is located at an initial predetermined position in the parking area, and the calculating unit 120 may determine that a jam occurs if at least one of the parked vehicles does not have a movement trajectory of a vehicle leaving the parking area.
The initial predetermined position may be a selected position within the drive zone, may be a position at which the own vehicle is currently located within the drive zone, or may be a position determined by an automatic parking assist system of the own vehicle.
In addition, the calculation unit 120 simulates the movement trajectories of all possible departure parking places of the parked vehicle based on the forward position, the backward position, and the steering position information of different angles of the parked vehicle, and then determines whether a jam occurs according to whether there is an overlapping area between the simulated movement trajectories of all possible departure parking places of each parked vehicle and the parked vehicles therearound.
The output interface 130 is connected to the calculation unit 120 and is configured to output information of occurrence of congestion issued by the calculation unit 120.
The anti-jamming parking apparatus 100 in this embodiment further includes a reminding device 140, connected to the output interface 130, for reminding a user of the vehicle according to information output by the output interface 130. The reminding mode can be any one or a combination of visual, acoustic and tactile modes, and the like, for example, words or sounds remind the user of parking at other positions.
In addition, the anti-jamming parking apparatus 100 in the present embodiment further includes a detection device 150, and the detection device 150 is connected to the acquisition unit 110 and is configured to detect a boundary of an object around the own vehicle. The detecting means 150 may be an ultrasonic sensor, a radar sensor, a laser sensor, etc. for collecting the boundary of an object around the own vehicle in the parking lot. The detection device 150 may also be an image sensor for capturing an image of an object around the own vehicle and obtaining a boundary on the image. The detection device 150 may be one or a combination of the distance sensor and the image sensor.
The anti-jamming parking device 100 in the present embodiment assists the user in finding a proper parking position by simulating whether the parked vehicle around the parking device is jammed when the vehicle is located at a certain parking position.
The following describes a process of the anti-jamming parking apparatus 100 in the embodiment of the present invention for assisting the user of the own vehicle in finding a proper parking position with reference to fig. 2 and 3.
Fig. 2 is a schematic diagram showing the occurrence of a jam in other parked vehicles around the own vehicle according to embodiment 1 of the present invention.
As shown in fig. 2, two rows of vehicles can be parked in the parking lot, the first row L1 has 4 vehicles parked next to the roadside R, and the second row L2 has 6 vehicles parked. At the entrance of the own vehicle E from the doorway D of the parking lot to the initial predetermined position P0In the process, the detection device 150 of the anti-jamming parking device 100 detects the boundary of the object around the own vehicle E, the acquisition unit 110 acquires the boundary information, and the calculation unit 120 determines the parking area according to the boundary information. In the present embodiment, the parking area is defined by the parked vehicle a around the own vehicle E1、A2、A3And B.
The own vehicle E can select the initial predetermined position P within the drive zone0The current position of the vehicle E in the driving area may be used as the initial predetermined position P0Or a position determined by an automatic parking assist system of the own vehicle E as the initial predetermined position P0。
At this time, the calculation unit 120 of the anti-jamming parking apparatus 100 simulates all possible movement trajectories of the parked vehicles a1, a2, A3, B to get out of the parking place based on the forward position, the backward position, and the steering position information of different angles of each parked vehicle, and then determines whether jamming occurs according to whether there is an overlapping area between the simulated movement trajectories of all possible movement trajectories of each parked vehicle to get out of the parking place and the parked vehicles therearound. As shown in fig. 2, each parked vehicle a around the own vehicle EmAnd (m is 1, 2 and 3), at least one motion track which is driven away from the parking place and does not have an overlapping area with surrounding vehicles can be simulated. For example, parked vehicle A1Simulating a motion trail of driving away from the parking place from the parking position to the doorway D of the parking place, wherein all possible motion trails of driving away from the parking place, which are simulated from the parking position to the doorway D of the parking place, of the parked vehicle B are the same as the motion trail of the own vehicle E or other parked vehicles AmThere is an overlapping region (e.g., the movement locus of the vehicle B and the vehicle A in FIG. 2)3The overlap area O), the vehicle B cannot drive out of the parking place, so the calculation unit 120 can judge that the jam occurs.
The output interface 130 outputs the information of occurrence of the congestion issued by the computing unit 120, and the user of the own vehicle E is reminded by the reminding device 140, and the reminding manner may be any one or a combination of visual, acoustic, and tactile, for example, a text or sound reminding: "here blocking occurs. Attempt to park to another location! ".
Fig. 3 shows a schematic view in which no jam occurs in other parked vehicles around the own vehicle according to embodiment 1 of the present invention.
The calculation unit 120 simulates the self-vehicle E to be located at the initial predetermined position P0When a jam may occur, another predetermined position P is selected for the own vehicle E in the parking arean(N is 1, 2, 3 … … N), and assuming that the own vehicle E is located at another predetermined position, for example, the predetermined position P1Then, the movement locus of all possible vehicles parked around the own vehicle E, which are driven out of the parking place, is simulated again, and it is determined whether the surroundings thereof are blocked again in the same manner.
As shown in fig. 3, if the own vehicle E is located at another predetermined position P1When no blockage occurs around the P-type material, P is determined1Is the target parking position T. After receiving the information of the target parking position T, reminder device 140 reminds the user of host vehicle E of parking at target parking position T. At this time, the original blocked parked vehicle B also has a parking place which can be driven away from the parking place without contacting the surrounding vehicles A3Overlapping motion trajectories.
If the own vehicle E is located at another predetermined position P1When the surroundings are still blocked, the next predetermined position P is selected for the own vehiclenUp to the Nth predetermined position PNWhere N is the maximum number of times the predetermined location is calculated. If the maximum number of times N is greater than a certain threshold, the calculation is ended. For example, the threshold may be 10, and the number of calculations is 10 at most.
As an alternative embodiment, the anti-jamming parking apparatus 100 may further include a counter for recording the number of times the predetermined position is calculated for the own vehicle E, and if the number of times is greater than the threshold value, the calculation is ended. The anti-jamming parking device 100 may also include a memory for storing predetermined positions within the parking area, and if all the predetermined positions have been selected, the calculation is ended.
If the target parking position T is not determined after the calculation is finished by the calculation unit 120, the output interface 130 outputs the information that the target parking position T is not determined, which is sent by the calculation unit 120, and the reminder 140 will remind the user of the own vehicle E to travel to another parking area. For example, a text or voice reminder: "there is no parking space here. Attempt to park to another location! ".
Example 2
Fig. 4 is a schematic block diagram of the anti-jamming parking apparatus according to embodiment 2 of the present invention. The anti-jamming parking apparatus 200 includes: an acquisition unit 210, a calculation unit 220 and an output interface 230.
The acquisition unit 210 in the present embodiment is functionally the same as the acquisition unit 110 in embodiment 1, and is also configured to acquire boundary information of objects around the own vehicle in the parking place, the objects around the own vehicle including the parked vehicle.
The calculating unit 220 is connected to the obtaining unit 210, and is configured to determine a parking area according to the boundary information obtained by the obtaining unit 210, simulate all possible motion trajectories of the vehicle leaving the parking place when the vehicle is parked and a vehicle to be parked around the vehicle enters the parking place, and determine that the vehicle is blocked if the vehicle does not have the possible motion trajectories of the vehicle leaving the parking place.
The calculation unit 220 in the present embodiment is similar in function to the calculation unit 120 in embodiment 1, except that the calculation unit 220 simulates the movement trajectories of all possible off-parking places of the own vehicle based on the forward position, the backward position, and the steering position information of different angles of the own vehicle, and then determines whether the own vehicle is jammed according to whether there is an overlapping area between the simulated movement trajectories of all possible off-parking places of the own vehicle and the vehicle to be parked around the same.
The output interface 230 is connected to the calculation unit 220, and is configured to output the information that the own vehicle is blocked, which is sent from the calculation unit 220.
The anti-jamming parking apparatus 200 in the present embodiment further includes a reminding device 240 connected to the output interface 230 for reminding a user of the vehicle according to information output from the output interface 230.
The warning device 240 in the present embodiment is similar in function to the warning device 140 in embodiment 1, except that the warning device 240 is also configured to warn a user of a vehicle to be parked around the own vehicle if the output interface 230 outputs information that the own vehicle is jammed. The reminding mode can be any one or combination of visual, sound and touch, for example, words or sounds remind the user to park at other positions.
In addition, similar to the anti-jamming parking apparatus 100 in embodiment 1, the anti-jamming parking apparatus 200 in the present embodiment further includes a detection device 250, and the detection device 250 is connected to the acquisition unit 210 and is configured to detect a boundary of an object around the own vehicle in the parking lot. The detecting device 250 may be one or a combination of several of an ultrasonic sensor, a radar sensor, a laser sensor, or an image sensor.
The anti-blocking parking device 200 in this embodiment reminds a user of the vehicle to adopt relevant measures or reminds users of other vehicles of the vehicle to park at other positions by simulating whether the parking position of the vehicle to be parked around the vehicle after the vehicle is parked can cause the vehicle of the vehicle to be blocked and cannot drive away from a parking place, thereby avoiding the occurrence of blocking in a parking area.
Fig. 5 shows a schematic view in which the own vehicle is blocked in the parking lot according to embodiment 2 of the present invention.
Similar to the scenario in embodiment 1, two rows of vehicles may be parked in the parking lot, the first row L1 having 4 vehicles parked next to the roadside R, and the second row L2 having 6 vehicles parked. The detection device 250 of the anti-jamming parking device 200 of the own vehicle E 'detects the boundary of the object around the own vehicle E', the acquisition unit 210 acquires the boundary information, and the calculation unit 220 determines the parking area according to the boundary information. The parking area in the present embodiment is defined by the parked vehicle A around the own vehicle E1’、A2’、A3’、A4The boundary between' constitutes. A vehicle to be parked which enters the parking lot from a doorway D of the parking lot is marked N.
The calculation unit 220 of the anti-jamming parking device 200 simulates the movement tracks of all possible vehicles E 'leaving the parking place based on the forward position, the backward position and the steering position information of different angles of the vehicle E', determines whether an overlapping area exists between the movement tracks and the vehicles N to be parked around the movement tracks when the vehicle E 'is parked at a certain parking position, and determines that the vehicle E' is jammed if all the movement tracks of all the possible vehicles leaving the parking place overlap with the vehicles N to be parked around the movement tracks.
As shown in fig. 5, if the output interface 230 outputs the information that the own vehicle is blocked, which is sent from the calculation unit 220, the reminding apparatus 240 will remind the user of the own vehicle E'. If the user of the own vehicle E' has not left the own vehicle, the reminding apparatus 240 may remind the user of the own vehicle that the own vehicle is blocked; if the user of the own vehicle E 'has left the vehicle or the parking area, the reminding device 240 may remind the user of the own vehicle that the vehicle is blocked by dialing the user's mobile phone or in a short message. For example, the user of the own vehicle may be alerted by text or sound: "your vehicle is blocked". Meanwhile, the reminding device 240 may also remind the user of the vehicle N to be parked, for example, the other users of the vehicle to be parked may be reminded by words or sounds: "Do not park here! ".
In addition, an embodiment of the present invention also provides a vehicle having the anti-jamming parking device 100 or the anti-jamming parking device 200 as described above or a combination of both.
The foregoing discussion discloses and describes merely exemplary embodiments of the present invention. One skilled in the art will readily recognize from such discussion, and from the accompanying drawings and claims, that various changes, modifications and variations can be made therein without departing from the scope and spirit of the invention as defined in the following claims.
Claims (20)
1. An anti-jamming parking device comprising:
a detection device for detecting a boundary of an object around the own vehicle;
an acquisition unit configured to be connected with the detection device to acquire boundary information of objects around a self-vehicle in a parking place, the objects around the self-vehicle including a parked vehicle;
a calculation unit configured to simulate all possible motion trajectories of the parked vehicle away from a parking place based on a forward position, a backward position, and different-angle steering position information of the parked vehicle; the calculation unit is connected with the acquisition unit and is configured to determine a parking area according to the boundary information acquired by the acquisition unit and simulate all possible motion tracks of parked vehicles which leave the parking place when the vehicle is located at an initial preset position in the parking area; the calculation unit is further configured to determine that a jam occurs if at least one parked vehicle does not have a movement trajectory away from the parking place;
an output interface connected with the computing unit and configured to output the information of the occurrence of the blocking sent by the computing unit.
2. The anti-jamming parking device according to claim 1, wherein the calculation unit determines whether jamming occurs according to whether there is an overlapping area between all possible movement trajectories of each parked vehicle leaving the parking place and parked vehicles around the simulated movement trajectories.
3. The jam-preventing parking device according to claim 1, wherein the calculation unit is further configured to select another predetermined position for the own vehicle in the parking area if a jam occurs in the parking place, and simulate all possible moving trajectories of the parked vehicle around the own vehicle out of the parking place on the assumption that the own vehicle is located at the another predetermined position, and determine whether a jam occurs in the surroundings thereof when the own vehicle is located at the another predetermined position.
4. The anti-jamming parking device according to claim 3, wherein the calculation unit is further configured to determine that the other predetermined position is the target parking position if no jamming occurs around the own vehicle when the own vehicle is located at the other predetermined position; and the output interface outputs information of the target parking position.
5. The anti-jamming parking apparatus according to claim 3, wherein the calculation unit is further configured to select a next predetermined position for the own vehicle if jamming occurs around the own vehicle when the own vehicle is located at the another predetermined position.
6. The anti-jamming parking device according to claim 5, further comprising a counter for recording the number of times the calculation unit calculates the predetermined position for the own vehicle, and ending the calculation if the number of times is greater than a threshold value.
7. An anti-jamming parking device according to claim 5, wherein the anti-jamming parking device further comprises a memory for storing a predetermined position within the parking area, and if the predetermined position has been selected, the calculation is ended.
8. The anti-jamming parking device according to any one of claims 1 to 7, further comprising a reminding device connected to the output interface for reminding a user of the own vehicle according to information output by the output interface.
9. The anti-jamming parking apparatus according to claim 8, wherein the reminding means is further configured to remind a user of the own vehicle to travel to another parking area if the target parking position is not determined after the calculation is finished by the calculation unit.
10. The anti-jamming parking device according to claim 1, wherein the initial predetermined position is a selected position within the parking area.
11. The anti-jamming parking apparatus according to claim 1, wherein the initial predetermined position is a position at which the own vehicle is currently located within the parking area.
12. An anti-jamming parking apparatus according to claim 11, wherein the initial predetermined position is determined by an automatic parking assist system of the own vehicle.
13. The anti-blocking parking device according to claim 1, wherein the detection device is one or a combination of an ultrasonic sensor, a radar sensor, a laser sensor or an image sensor.
14. An anti-jamming parking device comprising:
a detection device for detecting a boundary of an object around the own vehicle;
an acquisition unit configured to be connected with the detection device to acquire boundary information of objects around a self-vehicle in a parking place, the objects around the self-vehicle including a parked vehicle;
a calculation unit configured to simulate all possible motion trajectories of the parked vehicle away from a parking place based on a forward position, a backward position, and different-angle steering position information of the parked vehicle; the calculation unit is connected with the acquisition unit, is configured to determine a parking area according to the boundary information acquired by the acquisition unit, and simulates all possible motion tracks of the self vehicle leaving the parking place when the self vehicle is parked and a vehicle to be parked around the self vehicle enters the parking place, and is further configured to determine that the self vehicle is blocked if the self vehicle does not have the possible motion tracks of leaving the parking place;
an output interface connected to the calculation unit and configured to output the information that the own vehicle is blocked, which is sent by the calculation unit.
15. The anti-jamming parking apparatus according to claim 14, wherein the calculation unit is configured to simulate all possible movement trajectories of the own vehicle out of the parking place based on the forward position, the backward position, and the steering position information of different angles of the own vehicle.
16. The anti-jamming parking device according to claim 15, wherein the calculation unit determines whether the own vehicle is jammed according to whether there is an overlapping area between all possible motion trajectories of the own vehicle that are simulated to leave the parking place and a vehicle to be parked around the own vehicle.
17. An anti-jamming parking device according to any one of claims 14 to 16, wherein the anti-jamming parking device further comprises a reminding device connected with the output interface and used for reminding a user of the vehicle according to information output by the output interface.
18. The anti-jamming parking apparatus according to claim 17, wherein the warning apparatus is further configured to warn a user of a vehicle to be parked around the own vehicle if the output interface outputs the information that the own vehicle is jammed.
19. An anti-jamming parking device according to claim 14, wherein the detection device is one or a combination of an ultrasonic sensor, a radar sensor, a laser sensor or an image sensor.
20. A vehicle having the anti-jamming parking apparatus according to any one of claims 1 to 19.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201611147104.0A CN108609011B (en) | 2016-12-13 | 2016-12-13 | Prevent blocking parking device and have vehicle of preventing blocking parking device |
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| CN201611147104.0A CN108609011B (en) | 2016-12-13 | 2016-12-13 | Prevent blocking parking device and have vehicle of preventing blocking parking device |
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| CN108609011B true CN108609011B (en) | 2021-04-06 |
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| CN102015403A (en) * | 2008-04-22 | 2011-04-13 | 通用汽车环球科技运作公司 | Autonomous parking strategy based on available parking space |
| CN105835795A (en) * | 2015-01-30 | 2016-08-10 | 现代摩比斯株式会社 | Parking assistant device |
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| CN106064626A (en) * | 2015-04-20 | 2016-11-02 | 丰田自动车株式会社 | Controlling device for vehicle running |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR101477231B1 (en) * | 2013-05-10 | 2014-12-29 | 현대모비스 주식회사 | Method and Apparatus of Vehicle Parking Out Assist and System Using thereof |
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|---|---|---|---|---|
| CN102015403A (en) * | 2008-04-22 | 2011-04-13 | 通用汽车环球科技运作公司 | Autonomous parking strategy based on available parking space |
| CN105835795A (en) * | 2015-01-30 | 2016-08-10 | 现代摩比斯株式会社 | Parking assistant device |
| CN106064626A (en) * | 2015-04-20 | 2016-11-02 | 丰田自动车株式会社 | Controlling device for vehicle running |
| CN105857306A (en) * | 2016-04-14 | 2016-08-17 | 中国科学院合肥物质科学研究院 | Vehicle autonomous parking path programming method used for multiple parking scenes |
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