CN110271538A - Automatic parking switching method, electronic equipment and automobile - Google Patents
Automatic parking switching method, electronic equipment and automobile Download PDFInfo
- Publication number
- CN110271538A CN110271538A CN201910654087.7A CN201910654087A CN110271538A CN 110271538 A CN110271538 A CN 110271538A CN 201910654087 A CN201910654087 A CN 201910654087A CN 110271538 A CN110271538 A CN 110271538A
- Authority
- CN
- China
- Prior art keywords
- parking
- automatic
- automatic parking
- track
- vehicle
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 34
- 230000004044 response Effects 0.000 claims abstract description 21
- 230000006870 function Effects 0.000 claims description 20
- 230000015654 memory Effects 0.000 claims description 18
- 230000006399 behavior Effects 0.000 claims description 12
- 238000004891 communication Methods 0.000 claims description 7
- 230000001960 triggered effect Effects 0.000 claims description 7
- 238000005516 engineering process Methods 0.000 abstract description 9
- 208000019901 Anxiety disease Diseases 0.000 abstract description 6
- 230000036506 anxiety Effects 0.000 abstract description 6
- 238000010586 diagram Methods 0.000 description 6
- 239000000523 sample Substances 0.000 description 5
- 239000002699 waste material Substances 0.000 description 4
- 230000006641 stabilisation Effects 0.000 description 3
- 238000011105 stabilization Methods 0.000 description 3
- 230000004888 barrier function Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 238000012790 confirmation Methods 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000008054 signal transmission Effects 0.000 description 1
- 230000011664 signaling Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
Classifications
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/027—Parking aids, e.g. instruction means
- B62D15/0285—Parking performed automatically
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
The present invention discloses a kind of automatic parking switching method, electronic equipment and automobile, and method includes: to park behavior in response to driver, into state of manually parking；It determines target parking stall, completes the trajectory planning of parking to the target parking stall, according to the vehicle real time, be updated to obtain real-time update to track of parking described in the target parking stall and park track；In response to automatic parking request, according to the real-time update park TRAJECTORY CONTROL vehicle carry out automatic parking.The present invention does not remove the parking space information searched when user starts manually to park, and updates track of parking according to vehicle real time when manually parking, and user is waited to open automatic parking, and therefore, user quickly can be switched to automatic parking from manually parking.By adapter tube vehicle and completing automatic parking on the way, user time can be saved, the experience sense and technology sense of user can be increased substantially in the epoch of current parking stall anxiety.
Description
Technical field
The present invention relates to automobile correlative technology field, especially a kind of automatic parking switching method, electronic equipment and automobile.
Background technique
Now with improvement of living standard, the life of automobile and the mankind are closer and closer inseparable, and more and more people gather around
There is private car, while the configuration of the electrical function in face of becoming increasingly abundant, more and more drivers wish vehicle configuration function more
Add intelligence.And for current existing automatic parking technology, system is only supported to move forward to find parking stall, and then planned trajectory is complete
Be given to user at rear release parking stall, then user according to the guide of system complete corresponding movement (such as: selection parking stall hangs R grades
Deng) automatic parking can be completed.However if user drives the vehicle for having automated parking system, when manually parking, if driving
The person of sailing because a variety of causes can not succeed VEHICLES MUST PARK WITHIN THE MARKED BAY when, if it is desired to use automatic parking, due to parking stall before track
Through removing, so wanting to use automated parking system, it is necessary to according to carrying out looking for parking stall, parking, extension the step of automated parking system
The movements such as shelves confirmation, could complete automatic parking.And if finding parking stall according to moving forward again the step of system requirements, mesh
Preceding parking stall is more and more nervous, move forward when looking for parking stall may the parking stall occupied by other people.
Summary of the invention
Based on this, it is necessary to the technical issues of cannot being rapidly switched to automatic parking of manually parking for the prior art,
A kind of automatic parking switching method, electronic equipment and automobile are provided.
The present invention provides a kind of automatic parking switching method, comprising:
It parks behavior in response to driver, into state of manually parking；
It determines target parking stall, completes the trajectory planning of parking to the target parking stall, it is right according to the vehicle real time
Track of parking described in the target parking stall is updated to obtain real-time update and parks track；
In response to automatic parking request, according to the real-time update park TRAJECTORY CONTROL vehicle carry out automatic parking.
The present invention does not remove the parking space information searched when user starts manually to park, and when manually parking according to
Vehicle real time updates track of parking, and user is waited to open automatic parking, and therefore, user can quickly be switched to from manually parking
Automatic parking.By adapter tube vehicle and completing automatic parking on the way, user time can be saved, in the epoch of current parking stall anxiety
The experience sense and technology sense of user can be increased substantially.
Further, track of parking described in the target parking stall is updated to obtain real-time update pool described
After wheel paths, the method also includes:
It is parked and whether is failed according to vehicle real time judgement；
If it is judged that parking unsuccessfully, then show that automatic parking prompts, the automatic parking prompt includes for triggering certainly
The option of dynamic request of parking；
If the option is selected, automatic parking request is triggered.
The present embodiment judge user park failure when, actively prompt the user whether to need to open parking system, user is true
Automatic parking can be completed after recognizing, the experience for increasing substantially user is felt, success rate of parking is improved.
Further, whether described parked according to vehicle real time judgement fails, and specifically includes:
According to time of parking, the position for rubbing library number, and/or vehicle relative to target parking stall of parking, whether judgement parks
Failure.
The present embodiment, can be quasi- according to time of parking, the position for rubbing library number, and/or vehicle relative to target parking stall of parking
Whether really judgement is parked fails.
Further, track of parking described in the target parking stall is updated to obtain real-time update pool described
After wheel paths, the method also includes:
It receives automatic parking function to be turned on, triggering automatic parking request.
The present embodiment makes driver is non-to park unsuccessfully, but user actively opens automatic parking function, and system can also connect
Guard system carries out automatic parking.
Still further, described park behavior in response to driver, into before state of manually parking, the method is also wrapped
It includes:
Detect that car speed drops to pre-set velocity threshold value, starting search can parking space, target parking stall from it is described can
It is selected in parking space.
The present embodiment, which avoids excessively searching for parking stall, to result in waste of resources.
The present invention provides a kind of automatic parking switching electronic equipment, comprising:
At least one processor；And
The memory being connect at least one described processor communication；Wherein,
The memory is stored with the instruction that can be executed by one processor, and described instruction is by described at least one
Manage device execute so that at least one described processor can:
It parks behavior in response to driver, into state of manually parking；
It determines target parking stall, completes the trajectory planning of parking to the target parking stall, it is right according to the vehicle real time
Track of parking described in the target parking stall is updated to obtain real-time update and parks track；
In response to automatic parking request, according to the real-time update park TRAJECTORY CONTROL vehicle carry out automatic parking.
The present invention does not remove the parking space information searched when user starts manually to park, and when manually parking according to
Vehicle real time updates track of parking, and user is waited to open automatic parking, and therefore, user can quickly be switched to from manually parking
Automatic parking.By adapter tube vehicle and completing automatic parking on the way, user time can be saved, in the epoch of current parking stall anxiety
The experience sense and technology sense of user can be increased substantially.
Further, track of parking described in the target parking stall is updated to obtain real-time update pool described
After wheel paths, the processor can also:
It is parked and whether is failed according to vehicle real time judgement；
If it is judged that parking unsuccessfully, then show that automatic parking prompts, the automatic parking prompt includes for triggering certainly
The option of dynamic request of parking；
If the option is selected, automatic parking request is triggered.
The present embodiment judge user park failure when, actively prompt the user whether to need to open parking system, user is true
Automatic parking can be completed after recognizing, the experience for increasing substantially user is felt, success rate of parking is improved.
Further, whether described parked according to vehicle real time judgement fails, and specifically includes:
According to time of parking, the position for rubbing library number, and/or vehicle relative to target parking stall of parking, whether judgement parks
Failure.
The present embodiment, can be quasi- according to time of parking, the position for rubbing library number, and/or vehicle relative to target parking stall of parking
Whether really judgement is parked fails.
Further, track of parking described in the target parking stall is updated to obtain real-time update pool described
After wheel paths, the processor can also:
It receives automatic parking function to be turned on, triggering automatic parking request.
The present embodiment makes driver is non-to park unsuccessfully, but user actively opens automatic parking function, and system can also connect
Guard system carries out automatic parking.
Still further, described park behavior in response to driver, into before state of manually parking, the processor is also
Can:
Detect that car speed drops to pre-set velocity threshold value, starting search can parking space, target parking stall from it is described can
It is selected in parking space.
The present embodiment, which avoids excessively searching for parking stall, to result in waste of resources.
The present invention provides a kind of automobile, including car body and foregoing electronic equipment, the electronic equipment can control
The car body carries out automatic parking.
The present invention does not remove the parking space information searched when user starts manually to park, and when manually parking according to
Vehicle real time updates track of parking, and user is waited to open automatic parking, and therefore, user can quickly be switched to from manually parking
Automatic parking.By adapter tube vehicle and completing automatic parking on the way, user time can be saved, in the epoch of current parking stall anxiety
The experience sense and technology sense of user can be increased substantially.
Detailed description of the invention
Fig. 1 is a kind of work flow diagram of automatic parking switching method of the present invention；
Fig. 2 is a kind of work flow diagram of automatic parking switching method of preferred embodiment；
Fig. 3 is the system schematic of preferred embodiment；
Fig. 4 is a kind of hardware structural diagram of the electronic equipment for automatic parking switching of the present invention.
Specific embodiment
The present invention will be further described in detail in the following with reference to the drawings and specific embodiments.
It is as shown in Figure 1 a kind of work flow diagram of automatic parking switching method of the present invention, comprising:
Step S101 parks behavior in response to driver, into state of manually parking；
Step S102 determines target parking stall, completes the trajectory planning of parking to the target parking stall, real according to the vehicle
When information, be updated to obtain real-time update to track of parking described in the target parking stall and park track；
Step S103 is requested in response to automatic parking, parks the progress of TRAJECTORY CONTROL vehicle automatically according to the real-time update
It parks.
Specifically, it when the non-selected unlatching automated parking system of user, but voluntarily moves forward and finds parking position, execute
Step S101, into state of manually parking.Automated parking system executes step S102, supports backstage to look for parking stall function, works as user
When finding parking stall, system automatically records target parking stall (truck spaces: horizontal parking stall length >=vehicle commander+0.8m, vertical parking stall width
>=vehicle width+0.6m), complete trajectory planning.Specifically, can search in advance it is multiple can parking space, when driver carry out people
When work is parked, according to the information of vehicles manually parked, the target parking stall manually parked is determined, and complete the rail of parking of target parking stall
Mark planning.For example, according to start manually park when, the position of parking, determine near can parking space, then according to vehicle with
Respectively can parking space relative positional relationship and the relevant informations such as rotary angle transmitter, speed, throttle, selection target parking stall.
Then, step S102 carries out track real-time update according to vehicle-related information, and relevant information includes: vehicle and mesh
Mark parking stall relative positional relationship, rotary angle transmitter, speed, throttle etc..
When user determines using automatic parking, automatic parking request is generated, step S103 is triggered, automated parking system is opened
It opens and state is switched to searching, when system and the automatically controlled smooth ride system (Electronic of associated system
Stabilty Program, ESP)/electric boosting steering system (Electric Power Steering, EPS) successful handshake
Afterwards, state is switched to guidance, prompts user " asking releasing of brake, start to park ", and system begins to take over vehicle simultaneously certainly at this time
It is dynamic to start control steering, braking, throttle, and complete automatic parking and enter position.
The present invention does not remove the parking space information searched when user starts manually to park, and when manually parking according to
Vehicle real time updates track of parking, and user is waited to open automatic parking, and therefore, user can quickly be switched to from manually parking
Automatic parking.By adapter tube vehicle and completing automatic parking on the way, user time can be saved, in the epoch of current parking stall anxiety
The experience sense and technology sense of user can be increased substantially.
In one of the embodiments, track of parking described in the target parking stall is updated to obtain described
Real-time update is parked after track, the method also includes:
It is parked and whether is failed according to vehicle real time judgement；
If it is judged that parking unsuccessfully, then show that automatic parking prompts, the automatic parking prompt includes for triggering certainly
The option of dynamic request of parking；
If the option is selected, automatic parking request is triggered.
The present embodiment judge user park failure when, actively prompt the user whether to need to open parking system, user is true
Automatic parking can be completed after recognizing, the experience for increasing substantially user is felt, success rate of parking is improved.
Whether described parked according to vehicle real time judgement fails in one of the embodiments, specifically includes:
According to time of parking, the position for rubbing library number, and/or vehicle relative to target parking stall of parking, whether judgement parks
Failure.
The present embodiment, can be quasi- according to time of parking, the position for rubbing library number, and/or vehicle relative to target parking stall of parking
Whether really judgement is parked fails.
In one of the embodiments, track of parking described in the target parking stall is updated to obtain described
Real-time update is parked after track, the method also includes:
It receives automatic parking function to be turned on, triggering automatic parking request.
The present embodiment makes driver is non-to park unsuccessfully, but user actively opens automatic parking function, and system can also connect
Guard system carries out automatic parking.
It is described in one of the embodiments, to park behavior in response to driver, it is described into before state of manually parking
Method further include:
Detect that car speed drops to pre-set velocity threshold value, starting search can parking space, target parking stall from it is described can
It is selected in parking space.
Specifically, automated parking system search in advance can parking space, when enter manually park state when, from can park
Target parking stall is determined in parking stall.
The present embodiment, which avoids excessively searching for parking stall, to result in waste of resources.
It is illustrated in figure 2 a kind of work flow diagram of automatic parking switching method of preferred embodiment, comprising:
Step S201, vehicle locally power on；
Step S202, automatic parking auxiliary system (Automatic Park Assist, APA) enter standby mode
standby；
Automated parking system is not used in step S203, driver, and APA system background looks for parking stall, and state remains standby shape
State standby；
Step S204, driver, which moves forward, looks for parking stall；
Step S205, driver find parking stall and stop, and system background, which records, parks target parking stall and cook up rail of parking
Mark；
Step S206, driver start manually to park, rotary angle transmitter during system is parked according to driver, speed,
Throttle, driving path etc. constantly update planned trajectory；
Step S207, system according to driver park the time, rub library number and planned trajectory judges whether driver parks
Failure, if no judgement does not execute step S208 unsuccessfully, otherwise system passes through controller local area network (Controller Area
Network, CAN) network signaling, instrument shows " whether automated parking system PLSCONFM opens ", if driver confirms
It uses, thens follow the steps S209；
Step S208, driver abandon parking, and actively open automated parking system；
Step S209, parking system are opened, and system mode is switched to searching；
Step S210, system adapter tube vehicle, and shake hands with systems completions such as EPS/ESP, system mode is switched to
Guidance, system carry out control of parking according to newest track.
Specifically, after vehicle locally powers on, the non-selected unlatching automated parking system of user, but voluntarily move forward and look for
To parking position, automated parking system supports backstage to look for parking stall function, and when user finds parking stall, system automatically records target parking stall
(truck spaces: horizontal parking stall length >=vehicle commander+0.8m, vertical parking stall width >=vehicle width+0.6m) simultaneously complete trajectory planning.
When driver starts to park, automated parking system carries out track real-time update, correlation letter according to vehicle-related information
Breath includes: vehicle-to-target parking stall relative positional relationship, rotary angle transmitter, speed, throttle etc..
Time of parking that system is manually parked according to driver parks and rubs library number and vehicle with respect to information such as parking stall positions
Comprehensive descision driver whether park unsuccessfully, when system judge driver park failure when, will pass through CAN network signal transmission
It is shown to instrument and plays frame information " automated parking system is available, and whether PLSCONFM opens ", opened if user confirms, automatic parking
System opens and state is switched to searching, after system and associated system ESP/EPS successful handshake, state switching
It for guidance, prompts user " asking releasing of brake, start to park ", system begins to take over vehicle and automatically begins to control and turns at this time
To, braking, throttle, and complete automatic parking and enter position；It parks unsuccessfully if the system determine that driver is non-, but user actively opens automatically
It parks function, system also can carry out automatic parking with adapter system.
The present invention does not remove parking space information not only when user starts manually to park by change system function logic, and
It is to be parked track when manually parking according to the updates such as vehicle and parking stall relative position, speed, throttle, user is waited to open automatically
It parks.And when system judge user park failure when, actively prompt the user whether to need to open parking system, after user's confirmation
Automatic parking can be completed.By adapter tube vehicle and completing automatic parking on the way, user time can be saved, it is tight in current parking stall
The epoch opened can increase substantially the experience sense and technology sense of user.
It is illustrated in figure 3 the system schematic of preferred embodiment, system includes 12 ultrasonic probes, 4 in total
Look around camera, automatic parking host, electric power steering, body stabilization system, car body controller, entire car controller, instrument
The related systems such as table, stacked switch, rotary angle transmitter, T-BOX, mobile phone, sensor unit (ultrasonic probe and camera) are logical
Privately owned communication and automatic parking main-machine communication are crossed, other associated systems pass through controller local area network (Controller
Area Network, CAN) or adjustable data rate controller local area network (CAN with Flexible Data-Rate,
CAN-FD) with automatic parking main-machine communication.Wherein:
Parking and opening switch 1 is the Sofe Switch being arranged inside hard switching either HU, for opening automatic parking function.
Ultrasonic probe 2 (remote) generates square-wave signal, sends ultrasonic wave by amplifying circuit driving ultrasonic probe
Pulse signal, when ultrasonic wave is measured and is received by ultrasonic probe again after barrier emits, after MCU detects echo,
Temperature-compensating is carried out according to Current Temperatures, obstacle distance is calculated by formula d=1/2Ct (C=343m/s (20 DEG C)).
The fish-eye camera that camera 3 is wide-angle is looked around, parking space information and week can be captured with image algorithm operation in real time
Enclose environmental information.The barrier (such as: short and small object, mobile object) that can not be detected for ultrasonic wave carries out detection identification,
Length, depth, lane line and the parking stall peripheral obstacle type etc. of parking stall can be accurately identified.
4 abbreviation APA of automatic parking host, for looking for parking stall, planning that track of parking, sending control lateral, longitudinal etc. control
Instruction and human-computer interaction order are given to corresponding ECU.
5 abbreviation ESP of body stabilization system, for receiving braking distance, the braking maximum speed of the transmission of automatic parking host
Limitation and shift request and automated parking system send when whether may span across equal signals, to entire car controller send torque increase,
Drop is turned round and shift request, while feeding back current wheel speed, speed etc..
6 abbreviation EPS of electric power steering, for executing the steering angle and steering angle acceleration of the sending of automatic parking host
Request, control steering wheel redirect to the angle of automatic parking host command, the either driver's intervention pool if EPS breaks down
Vehicle need to feed back to APA and exit control reason.
7 abbreviation VCU of entire car controller, torque increase, drop torsion and shift for receiving body stabilization system transmission are asked realistic
When response torque increase and decrease, gear switch etc..
8 abbreviation ICU of instrument, for the display of in parking process prompt text and animation, buzzer warning sound etc..
9 abbreviation EPB of electronic parking, pull-up parking device when being completed for parking.
It is illustrated in figure 4 a kind of hardware structural diagram of the electronic equipment for automatic parking switching of the present invention, comprising:
At least one processor 401；And
With the memory 402 of at least one described processor 401 communication connection；Wherein,
The memory 402 is stored with the instruction that can be executed by one processor, and described instruction is by described at least one
A processor executes so that at least one described processor can:
It parks behavior in response to driver, into state of manually parking；
It determines target parking stall, completes the trajectory planning of parking to the target parking stall, it is right according to the vehicle real time
Track of parking described in the target parking stall is updated to obtain real-time update and parks track；
In response to automatic parking request, according to the real-time update park TRAJECTORY CONTROL vehicle carry out automatic parking.
Electronic equipment is preferably electronic controller unit (Electronic Control Unit, ECU), the electronic equipment
It can integrate in automatic parking host.In Fig. 4 by taking a processor 402 as an example.
Electronic equipment can also include: input unit 403 and output device 404.
Processor 401, memory 402, input unit 403 and display device 404 can pass through bus or other modes
It connects, in figure for being connected by bus.
Memory 402 is used as a kind of non-volatile computer readable storage medium storing program for executing, can be used for storing non-volatile software journey
Sequence, non-volatile computer executable program and module, as the automatic parking switching method in the embodiment of the present application is corresponding
Program instruction/module, for example, method flow shown in FIG. 1.Processor 401 is stored in non-easy in memory 402 by operation
The property lost software program, instruction and module, thereby executing various function application and data processing, i.e., in realization above-described embodiment
Automatic parking switching method.
Memory 402 may include storing program area and storage data area, wherein storing program area can store operation system
Application program required for system, at least one function；Storage data area, which can be stored, uses institute according to automatic parking switching method
The data etc. of creation.In addition, memory 402 may include high-speed random access memory, it can also include non-volatile memories
Device, for example, at least a disk memory, flush memory device or other non-volatile solid state memory parts.In some embodiments
In, optional memory 402 includes the memory remotely located relative to processor 401, these remote memories can pass through net
Network is connected to the device for executing automatic parking switching method.The example of above-mentioned network includes but is not limited to internet, enterprises
Net, local area network, mobile radio communication and combinations thereof.
The user that input unit 403 can receive input clicks, and generates the user setting with automatic parking switching method
And the related signal input of function control.Display device 404 may include that display screen etc. shows equipment.
It is stored in the memory 402 in one or more of modules, when by one or more of processing
When device 401 is run, the automatic parking switching method in above-mentioned any means embodiment is executed.
The present invention does not remove the parking space information searched when user starts manually to park, and when manually parking according to
Vehicle real time updates track of parking, and user is waited to open automatic parking, and therefore, user can quickly be switched to from manually parking
Automatic parking.By adapter tube vehicle and completing automatic parking on the way, user time can be saved, in the epoch of current parking stall anxiety
The experience sense and technology sense of user can be increased substantially.
In one of the embodiments, track of parking described in the target parking stall is updated to obtain described
Real-time update is parked after track, the processor can also:
It is parked and whether is failed according to vehicle real time judgement；
If it is judged that parking unsuccessfully, then show that automatic parking prompts, the automatic parking prompt includes for triggering certainly
The option of dynamic request of parking；
If the option is selected, automatic parking request is triggered.
The present embodiment judge user park failure when, actively prompt the user whether to need to open parking system, user is true
Automatic parking can be completed after recognizing, the experience for increasing substantially user is felt, success rate of parking is improved.
Whether described parked according to vehicle real time judgement fails in one of the embodiments, specifically includes:
According to time of parking, the position for rubbing library number, and/or vehicle relative to target parking stall of parking, whether judgement parks
Failure.
The present embodiment, can be quasi- according to time of parking, the position for rubbing library number, and/or vehicle relative to target parking stall of parking
Whether really judgement is parked fails.
In one of the embodiments, track of parking described in the target parking stall is updated to obtain described
Real-time update is parked after track, the processor can also:
It receives automatic parking function to be turned on, triggering automatic parking request.
The present embodiment makes driver is non-to park unsuccessfully, but user actively opens automatic parking function, and system can also connect
Guard system carries out automatic parking.
It is described in one of the embodiments, to park behavior in response to driver, it is described into before state of manually parking
Processor can also:
Detect that car speed drops to pre-set velocity threshold value, starting search can parking space, target parking stall from it is described can
It is selected in parking space.
The present embodiment, which avoids excessively searching for parking stall, to result in waste of resources.
The present invention provides a kind of automobile, including car body and foregoing electronic equipment, the electronic equipment can control
The car body carries out automatic parking.
The embodiments described above only express several embodiments of the present invention, and the description thereof is more specific and detailed, but simultaneously
Limitations on the scope of the patent of the present invention therefore cannot be interpreted as.It should be pointed out that for those of ordinary skill in the art
For, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to guarantor of the invention
Protect range.Therefore, the scope of protection of the patent of the invention shall be subject to the appended claims.
Claims (11)
1. a kind of automatic parking switching method characterized by comprising
It parks behavior in response to driver, into state of manually parking；
Determine target parking stall, complete the trajectory planning of parking to the target parking stall, according to the vehicle real time, to about
The track of parking of the target parking stall is updated to obtain real-time update and parks track；
In response to automatic parking request, according to the real-time update park TRAJECTORY CONTROL vehicle carry out automatic parking.
2. automatic parking switching method according to claim 1, which is characterized in that described to about the target parking stall
The track of parking be updated to obtain real-time update and park after track, the method also includes:
It is parked and whether is failed according to vehicle real time judgement；
If it is judged that parking unsuccessfully, then show that automatic parking prompts, the automatic parking prompt includes for triggering automatic pool
The option of vehicle request；
If the option is selected, automatic parking request is triggered.
3. automatic parking switching method according to claim 2, which is characterized in that described to be judged according to vehicle real time
It parks and whether fails, specifically include:
According to time of parking, the position for rubbing library number, and/or vehicle relative to target parking stall of parking, whether judgement is parked fails.
4. automatic parking switching method according to claim 1, which is characterized in that described to about the target parking stall
The track of parking be updated to obtain real-time update and park after track, the method also includes:
It receives automatic parking function to be turned on, triggering automatic parking request.
5. automatic parking switching method according to any one of claims 1 to 4, which is characterized in that described in response to driving
Member parks behavior, into before state of manually parking, the method also includes:
Detect that car speed drops to pre-set velocity threshold value, starting search can parking space, target parking stall is parked from described
It is selected in parking stall.
6. a kind of automatic parking switches electronic equipment characterized by comprising
At least one processor；And
The memory being connect at least one described processor communication；Wherein,
The memory is stored with the instruction that can be executed by one processor, and described instruction is by least one described processor
Execute so that at least one described processor can:
It parks behavior in response to driver, into state of manually parking；
Determine target parking stall, complete the trajectory planning of parking to the target parking stall, according to the vehicle real time, to about
The track of parking of the target parking stall is updated to obtain real-time update and parks track；
In response to automatic parking request, according to the real-time update park TRAJECTORY CONTROL vehicle carry out automatic parking.
7. automatic parking according to claim 6 switches electronic equipment, which is characterized in that described to about the target
The track of parking of parking stall is updated to obtain real-time update and parks after track, the processor can also:
It is parked and whether is failed according to vehicle real time judgement；
If it is judged that parking unsuccessfully, then show that automatic parking prompts, the automatic parking prompt includes for triggering automatic pool
The option of vehicle request；
If the option is selected, automatic parking request is triggered.
8. automatic parking according to claim 7 switches electronic equipment, which is characterized in that described according to vehicle real time
Whether judgement is parked fails, and specifically includes:
According to time of parking, the position for rubbing library number, and/or vehicle relative to target parking stall of parking, whether judgement is parked fails.
9. automatic parking according to claim 6 switches electronic equipment, which is characterized in that described to about the target
The track of parking of parking stall is updated to obtain real-time update and parks after track, the processor can also:
It receives automatic parking function to be turned on, triggering automatic parking request.
10. switching electronic equipments according to the described in any item automatic parkings of claim 6 to 9, which is characterized in that it is described in response to
Driver parks behavior, into before state of manually parking, the processor can also:
Detect that car speed drops to pre-set velocity threshold value, starting search can parking space, target parking stall is parked from described
It is selected in parking stall.
11. a kind of automobile, which is characterized in that including car body and such as the described in any item electronic equipments of claim 6 to 10,
The electronic equipment can control the car body and carry out automatic parking.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910654087.7A CN110271538B (en) | 2019-07-19 | 2019-07-19 | Automatic parking switching method, electronic equipment and automobile |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910654087.7A CN110271538B (en) | 2019-07-19 | 2019-07-19 | Automatic parking switching method, electronic equipment and automobile |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110271538A true CN110271538A (en) | 2019-09-24 |
| CN110271538B CN110271538B (en) | 2021-04-20 |
Family
ID=67964931
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910654087.7A Active CN110271538B (en) | 2019-07-19 | 2019-07-19 | Automatic parking switching method, electronic equipment and automobile |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110271538B (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112061117A (en) * | 2020-10-14 | 2020-12-11 | 浙江吉利控股集团有限公司 | Self-learning automatic parking control method and system and vehicle |
| CN112330977A (en) * | 2020-10-28 | 2021-02-05 | 广州小鹏自动驾驶科技有限公司 | Automatic parking method and device |
| CN113071479A (en) * | 2021-04-29 | 2021-07-06 | 雄狮汽车科技(南京)有限公司 | Automatic parking method and device for vehicle and vehicle |
| CN114512019A (en) * | 2021-12-30 | 2022-05-17 | 浙江创泰科技有限公司 | Intelligent parking identification group control method and system |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105197010A (en) * | 2014-06-04 | 2015-12-30 | 长春孔辉汽车科技股份有限公司 | Auxiliary parking system and auxiliary parking control method |
| DE112013007403T5 (en) * | 2013-09-04 | 2016-06-02 | Toyota Jidosha Kabushiki Kaisha | Device for automatic driving |
| CN107776571A (en) * | 2017-10-31 | 2018-03-09 | 重庆长安汽车股份有限公司 | A kind of automated parking system |
| CN108407801A (en) * | 2017-02-09 | 2018-08-17 | 阿尔派株式会社 | Drive supporting device and driving support method |
| CN108791063A (en) * | 2018-03-22 | 2018-11-13 | 惠州市德赛西威汽车电子股份有限公司 | A kind of parking stall method for catching based on ADAS |
| CN110103828A (en) * | 2019-05-13 | 2019-08-09 | 广州小鹏汽车科技有限公司 | Vehicle and its display methods and device |
-
2019
- 2019-07-19 CN CN201910654087.7A patent/CN110271538B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE112013007403T5 (en) * | 2013-09-04 | 2016-06-02 | Toyota Jidosha Kabushiki Kaisha | Device for automatic driving |
| CN105197010A (en) * | 2014-06-04 | 2015-12-30 | 长春孔辉汽车科技股份有限公司 | Auxiliary parking system and auxiliary parking control method |
| CN108407801A (en) * | 2017-02-09 | 2018-08-17 | 阿尔派株式会社 | Drive supporting device and driving support method |
| CN107776571A (en) * | 2017-10-31 | 2018-03-09 | 重庆长安汽车股份有限公司 | A kind of automated parking system |
| CN108791063A (en) * | 2018-03-22 | 2018-11-13 | 惠州市德赛西威汽车电子股份有限公司 | A kind of parking stall method for catching based on ADAS |
| CN110103828A (en) * | 2019-05-13 | 2019-08-09 | 广州小鹏汽车科技有限公司 | Vehicle and its display methods and device |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112061117A (en) * | 2020-10-14 | 2020-12-11 | 浙江吉利控股集团有限公司 | Self-learning automatic parking control method and system and vehicle |
| CN112061117B (en) * | 2020-10-14 | 2022-06-14 | 浙江吉利控股集团有限公司 | Self-learning automatic parking control method and system and vehicle |
| CN112330977A (en) * | 2020-10-28 | 2021-02-05 | 广州小鹏自动驾驶科技有限公司 | Automatic parking method and device |
| CN112330977B (en) * | 2020-10-28 | 2022-05-13 | 广州小鹏自动驾驶科技有限公司 | Automatic parking method and device |
| CN113071479A (en) * | 2021-04-29 | 2021-07-06 | 雄狮汽车科技(南京)有限公司 | Automatic parking method and device for vehicle and vehicle |
| CN114512019A (en) * | 2021-12-30 | 2022-05-17 | 浙江创泰科技有限公司 | Intelligent parking identification group control method and system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110271538B (en) | 2021-04-20 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110271538A (en) | Automatic parking switching method, electronic equipment and automobile | |
| JP7379683B2 (en) | Automatic parking control method and device | |
| US11338798B2 (en) | Full-automatic parking method and system | |
| CN110293963A (en) | Narrow vertical parking stall is remotely controlled park method and computer readable storage medium | |
| JP7379682B2 (en) | Intelligent parking method and device | |
| CN110228466A (en) | The controlled method of parking of automobile, electronic equipment, automobile and mobile terminal | |
| CN110228467B (en) | Method for electrifying whole remote-control parking vehicle, electronic equipment, system and vehicle | |
| WO2018207778A1 (en) | Automated parking system, automated parking vehicle, and automated parking method | |
| CN110103951A (en) | Automatic parking method, electronic equipment and automobile | |
| CN110203196A (en) | Slope automatic parking method, electronic equipment and automobile | |
| CN107640148A (en) | The method that remote auto parking support system guides car-parking model | |
| CN110435643A (en) | Automatic parking method for handover control, electronic equipment and automobile | |
| CN207345798U (en) | Automated parking system | |
| CN104118429B (en) | Parking helpers range measurement clock control method | |
| CN112422658A (en) | Parking space sharing method and device | |
| CN110466509A (en) | Automatic parking mode selecting method, electronic equipment and automobile | |
| US10513292B2 (en) | Method and device for providing an access option to a vehicle interior | |
| CN110304051A (en) | Automatic parking recommended method, electronic equipment and automobile | |
| CN110466508B (en) | Parking control method and device, storage medium and control terminal | |
| CN110435644A (en) | It parks control method, device, storage medium and controlling terminal | |
| CN110588639A (en) | Automatic parking control method, electronic equipment and automobile | |
| CN110588637B (en) | Automatic parking control method, electronic equipment and automobile | |
| CN112172792A (en) | Fixed parking space parking method and device, vehicle and storage medium | |
| CN111301395B (en) | Automatic parking control method, electronic equipment and automobile | |
| CN116022126A (en) | Autonomous learning parking method, electronic device and storage medium |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |