CN110329246A - A kind of intelligent driving system and method with automatic parking function - Google Patents
A kind of intelligent driving system and method with automatic parking function Download PDFInfo
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- CN110329246A CN110329246A CN201910623393.4A CN201910623393A CN110329246A CN 110329246 A CN110329246 A CN 110329246A CN 201910623393 A CN201910623393 A CN 201910623393A CN 110329246 A CN110329246 A CN 110329246A
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- 230000006870 function Effects 0.000 claims description 13
- 238000003860 storage Methods 0.000 claims description 6
- 238000004590 computer program Methods 0.000 claims description 4
- 238000005516 engineering process Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 4
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- 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 invention discloses a kind of intelligent driving method and system with automatic parking function, method includes the following steps: S1, judges vehicle and the relative positional relationship of the empty parking space of acquisition；S2, depending on the relative position relationship plan track of parking；S3, control vehicle are parked by the track of parking of planning, and system includes position judging module, trajectory planning module, module of parking.The track of parking that the present invention passes through vehicle and the relative positional relationship planning department vehicle of empty parking space, vehicle can be by parking in the first motion to empty parking space of track, which obviate the artificial interference of driver during parking, improve the intelligence parked, and are also conducive to the safety for guaranteeing to park.
Description
Technical field
The present invention relates to intelligent driving technical fields, more particularly, to a kind of intelligent driving system with automatic parking function
System and method.
Background technique
Currently, more and more safe driving technologies have been applied to automobile with the continuous development of intelligent driving technology
On, such as, automatic parking technology.However, existing automatic parking technology relies on driver's cooperation, its intelligence is caused to have
Limit.
Summary of the invention
It is an object of the invention to overcome above-mentioned technical deficiency, a kind of intelligent driving system with automatic parking function is proposed
System and method.
To reach above-mentioned technical purpose, technical solution of the present invention provides a kind of intelligent driving with automatic parking function
Method includes the following steps:
S1, judge vehicle and acquisition empty parking space relative positional relationship；
S2, depending on the relative position relationship plan track of parking；
S3, control vehicle are parked by the track of parking of planning.
The present invention also provides a kind of intelligent driving systems with automatic parking function, comprising:
Position judging module is used to judge the relative positional relationship of the empty parking space of vehicle and acquisition；
Trajectory planning module, the relationship depending on the relative position that is used for plan track of parking；
It parks module, is used to control vehicle and parks by the track of parking of planning.
The present invention also provides a kind of electronic equipment, including processor and memory, calculating is stored on the memory
Machine program, the processor realize above-mentioned intelligent driving method when executing the computer program.
The present invention also provides a kind of computer readable storage medium, the computer-readable recording medium storage has computer
Instruction, the computer instruction make the computer execute above-mentioned intelligent driving method.
Compared with prior art, the rail of parking that the present invention passes through vehicle and the relative positional relationship planning department vehicle of empty parking space
Mark, vehicle can be by parking in the first motion to empty parking space of track, and which obviate the artificial interference of driver during parking, improve
The intelligence parked also is conducive to the safety for guaranteeing to park.
Detailed description of the invention
Fig. 1 is the flow chart of the intelligent driving method with automatic parking function of the invention；
Fig. 2 is the flow chart of the step S1 of the intelligent driving method with automatic parking function of the invention；
Fig. 3 is the flow chart of the step S13 of the intelligent driving method with automatic parking function of the invention；
Fig. 4 is the flow chart of the step S2 of the intelligent driving method with automatic parking function of the invention.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, right below in conjunction with drawings and examples
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
As shown in figures 1-4, the embodiment provides a kind of intelligent driving method with automatic parking function,
Include the following steps:
S1, judge vehicle and acquisition empty parking space relative positional relationship；
The present embodiment judges that the process of the relative positional relationship of vehicle and empty parking space is specific as follows:
Parking space information near S11, acquisition vehicle；
General driver can voluntarily find empty parking space in garage, once vehicle, can directly be parked in by discovery empty parking space
On the runway of empty parking space side, automatic parking is opened；After automatic parking is opened, the parking stall letter near vehicle can be acquired
Breath, can acquire parking space information by sensor or image identification system, and existing skill can be used in the mode of acquisition parking space information
Any mode in art, the present embodiment are simultaneously not construed as limiting；
S12, judge whether the parking stall is empty parking space according to parking space information, then follow the steps S13 if empty parking space, otherwise send out
Prompting message out；
During actually parking, it may occur however that driver's maloperation, therefore in order to avoid being led due to the maloperation because of driver
The accident of parking caused, the present embodiment compares judgement to the parking space information of acquisition, if it is found not to be empty parking space, to driver
The prompting message of " parking stall is not empty parking space " or " not finding empty parking space nearby " is issued, is continued in order to which driver drives vehicle
Find empty parking space；
S13, the relative positional relationship for obtaining vehicle and empty parking space.
When determining the parking stall for empty parking space, can operation vehicle and empty parking space relative positional relationship, in order to subsequent
Plan track of parking；Its concrete operation process is as follows:
The second location information of S131, the first location information for obtaining vehicle and empty parking space, the first location information is extremely
It less include first position, the length and width of vehicle and the front-rear direction of vehicle of vehicle, the second location information is at least
The length and width of the second position, empty parking space including the empty parking space and the arranged direction of empty parking space；
S132, whether the length and width for judging vehicle matches with the length and width of empty parking space, is to then follow the steps
Otherwise S133 issues prompting message；
When due to parking, Some vehicles size is larger and truck spaces are smaller, parks or vehicle difficulty is big out, easily occurs to wipe and touch
Accident；Therefore the present embodiment can by comparing the length and width of vehicle and the length and width of empty parking space, once discovery size is not
Properly, the information reminding of capable of emitting " parking stall is narrow " or " the parking bit length is inadequate ", in order to which driver looks for down
One empty parking space；
S133, vehicle is judged according to the arranged direction of first position, the front-rear direction of vehicle, the second position and empty parking space
With the relative positional relationship of empty parking space；
Since the position of vehicle and front-rear direction, the position on parking stall and arranged direction exist with subsequent track of parking
Inevitable relationship, therefore when judging the relative positional relationship of vehicle and empty parking space at least needs to judge hole parking stall and vehicle
Tilt angle between fore-and-aft distance and lateral distance, vehicle and empty parking space.
S2, depending on the relative position relationship plan track of parking；
When actually parking, it may occur however that because parking improper and/or empty parking space in parking stall is nearby deposited beside the empty parking space
In barrier, cause the track of parking of planning excessively complicated, is unfavorable for that the subsequent vehicle goes out parking stall or the vehicle on side goes out
Parking stall, therefore in order to avoid this kind of situation, the present embodiment specifically in the following way:
S21, track of being parked in advance according to the planning of the relative positional relationship of vehicle and empty parking space；
The pre- track of parking is the motion profile that vehicle is moved to empty parking space by current location comprising before at least one
Into motion profile and at least one setback track, at least one forward travel track and at least one setback track according to
Secondary head and the tail alternately connect, wherein motion profile when forward travel track refers to real-time park under vehicle forward travel state, and retreat
Motion profile is then motion profile when parking in real time under vehicle rollback situation, and one-time continuous of the vehicle under forward travel state
Motion profile is denoted as a forward travel track, and vehicle is after the motion profile of the one-time continuous under fallback state is denoted as once
Move back motion profile.
The present embodiment when track is parked in planning in advance, can by the motion profile that need to advance during vehicle parking and
The motion profile of retrogressing, which is cooked up, to be come, consequently facilitating subsequent control vehicle parking.
It should be noted that planning in advance park track when, in real time referring to the wheel maximum deflection angle of the vehicle, and
Relationship and the maximum deflection angle of wheel calculate forward travel track and the least mode in setback track depending on the relative position.
That is, when track is parked in planning in advance, it is also necessary to pass through the sensor installed on vehicle and/or image identification system real-time detection
Other barriers near vehicle, such as vehicle, the pillar of other parking stalls are arrived to avoid vehicle during parking by grazing.
S22, the round-trip number for judging pre- track of parking determine that it is rail of parking if round-trip number is less than first threshold
Otherwise mark issues prompting message.
Wherein, the round-trip number of the pre- track of parking is the number and reality of forward travel track and setback track
During border is parked, since vehicle is located at empty parking space side, therefore in order to guarantee that vehicle is able to enter empty parking space, when side is more empty
When spacious, vehicle, which generally requires advance certain distance and then retreats, enters empty parking space (tailstock first enters), or first retreats certain distance
Then advance into empty parking space (headstock first enters).
And when the runway of parking stall side is more narrow, in order to avoid during vehicle parking grazing to other obstacles
Object, therefore adjustment vehicle is needed repeatedly to move forward and backward to guarantee that vehicle enters empty parking space.
But when the number for needing to adjust is excessive, such as the total degree to move forward and backward is more than 10 times, then illustrates the sky
Parking stall difficulty of parking is excessive, be also unfavorable for it is subsequent go out parking stall, beside the vehicles of other parking stalls also hold when passing in and out parking stall
The generation of Yi Yuben vehicle, which is wiped, touches, therefore in order to reduce the above-mentioned possible accident occurred, the present embodiment is by forward travel track with after
It moves back the number of motion profile and judges difficulty that this time is parked, issue that " vehicle, which is parked, to be adjusted number and be greater than if difficulty is higher
The information reminding of setting value, if continue to park ", while driver can select to continue to park or stop pool according to information reminding
Vehicle.
Wherein, before executing step S22, also execution step S20, the step S20 includes:
Whether the total length of the pre- track of parking of judgement is less than second threshold, is to then follow the steps S22, otherwise issues and remind letter
Breath, when actually parking, the total length for track of parking in advance is bigger, illustrate beside the empty parking space can operating space it is larger, can be convenient for
Vehicle is normally parked, and when track of parking in advance is too small, when being, for example, less than second threshold, then operating beside the empty parking space
Space is minimum, and vehicle is needed repeatedly to be adjusted in situ, can directly issue at this time " parking stall difficulty of parking is larger, if
Continue to park " prompting message, driver can judge whether to continue to park according to prompting message.
S3, control vehicle are parked by the track of parking of planning.
It can normally park by track of parking if difficulty is lower, it specifically can be by controlling the forward or backward of vehicle, vehicle
The deflection angle and speed control vehicle of wheel, will be in vehicle stopping and empty parking spaces by track movement of parking.
The present embodiment also provides a kind of intelligent driving system with automatic parking function, comprising:
Position judging module is used to judge the relative positional relationship of the empty parking space of vehicle and acquisition；
Trajectory planning module, the relationship depending on the relative position that is used for plan track of parking；
It parks module, is used to control vehicle and parks by the track of parking of planning.
Wherein, position judging module includes parking space information collection unit, empty parking space judging unit, positional relationship acquisition list
Member, parking space information collection unit are used to acquire the parking space information near vehicle；Empty parking space judging unit is used for according to parking space information
Judge whether the parking stall is empty parking space, if empty parking space then execution position Relation acquisition unit, otherwise issues prompting message；Position
Relation acquisition unit is used to obtain the relative positional relationship of vehicle and empty parking space.
The positional relationship acquiring unit includes that location information obtains sub-cell, matching degree judges sub-cell and positional relationship
Judge that sub-cell, location information obtain sub-cell for obtaining the first location information of vehicle and the second confidence of empty parking space
Breath, the first location information include at least first position, the length and width of vehicle and the front-rear direction of vehicle of vehicle,
The second location information includes at least the second position, the length and width of empty parking space and the cloth of empty parking space of the empty parking space
Set direction；Matching degree judges that sub-cell is used to judge whether the length and width of vehicle matches with the length and width of empty parking space,
It is that then in-position relationship judges sub-cell, otherwise issues prompting message；Positional relationship judges sub-cell for according to first
Set, the front-rear direction of vehicle, the second position and empty parking space arranged direction judge the relative positional relationship of vehicle and empty parking space.
The trajectory planning module includes trajectory planning unit, the first difficulty judging unit and the second difficulty judging unit,
Trajectory planning unit is used for track of parking in advance according to the planning of the relative positional relationship of vehicle and empty parking space；First difficulty judging unit
Whether the total length for the track that judges to park in advance is less than second threshold, is to execute the second difficulty judging unit, otherwise issues
Prompting message；Second difficulty judging unit is used to judge to park in advance the round-trip number of track, if round-trip number is less than first threshold
Track of parking then is determined that it is, prompting message is otherwise issued.
It is understood that the above-mentioned functional module of the present embodiment can be stored in a memory, and its can by one or
Multiple processors execute, to realize above-mentioned intelligent driving method.Certainly, those of ordinary skill in the art will appreciate that realizing above-mentioned
All or part of the process in embodiment method is that related hardware (such as processor, control can be instructed by computer program
Device etc.) it completes, the computer program can be stored in a computer readable storage medium, which when being executed may be used
Process including such as above-mentioned each method embodiment.Wherein the storage medium can be memory, magnetic disk, CD etc..
The above described specific embodiments of the present invention are not intended to limit the scope of the present invention..Any basis
Any other various changes and modifications that technical concept of the invention is made should be included in the guarantor of the claims in the present invention
It protects in range.
Claims (9)
1. a kind of intelligent driving method with automatic parking function, which comprises the steps of:
S1, judge vehicle and acquisition empty parking space relative positional relationship；
S2, depending on the relative position relationship plan track of parking；
S3, control vehicle are parked by the track of parking of planning.
2. intelligent driving method according to claim 1, which is characterized in that the step S1 includes:
Parking space information near S11, acquisition vehicle；
S12, judge whether the parking stall is empty parking space according to parking space information, then follow the steps S13 if empty parking space, otherwise issue and mention
Awake information；
S13, the relative positional relationship for obtaining vehicle and empty parking space.
3. intelligent driving method according to claim 2, which is characterized in that the step S13 includes:
The second location information of S131, the first location information for obtaining vehicle and empty parking space, the first location information are at least wrapped
The front-rear direction of the first position of vehicle, the length and width of vehicle and vehicle is included, the second location information includes at least
The arranged direction of the second position of the empty parking space, the length and width of empty parking space and empty parking space；
Whether S132, the length and width for judging vehicle match with the length and width of empty parking space, are to then follow the steps S133, no
Then issue prompting message；
S133, vehicle and sky are judged according to the arranged direction of first position, the front-rear direction of vehicle, the second position and empty parking space
The relative positional relationship of parking stall.
4. intelligent driving method according to claim 3, which is characterized in that the step S2 includes:
S21, track of being parked in advance according to the planning of the relative positional relationship of vehicle and empty parking space；
S22, the round-trip number for judging pre- track of parking determine that it is track of parking if round-trip number is less than first threshold, no
Then issue prompting message.
5. intelligent driving method according to claim 4, which is characterized in that the pre- track of parking is vehicle by present bit
Set the motion profile for moving to empty parking space comprising at least one forward travel track and at least one setback track, until
A few forward travel track and at least one setback track successively alternately connect from beginning to end, the pre- track of parking it is round-trip
Number be forward travel track and setback track number and.
6. intelligent driving method according to claim 5, which is characterized in that the step S2 further include step S22 it
Preceding execution step S20, the step S20 include:
Whether the total length of the pre- track of parking of judgement is less than second threshold, is to then follow the steps S22, otherwise issues prompting message.
7. a kind of intelligent driving system with automatic parking function characterized by comprising
Position judging module is used to judge the relative positional relationship of the empty parking space of vehicle and acquisition；
Trajectory planning module, the relationship depending on the relative position that is used for plan track of parking；
It parks module, is used to control vehicle and parks by the track of parking of planning.
8. a kind of electronic equipment, which is characterized in that including processor and memory, computer journey is stored on the memory
Sequence, the processor realize the intelligent driving method as described in claim 1-6 is any when executing the computer program.
9. a kind of computer readable storage medium, which is characterized in that the computer-readable recording medium storage has computer to refer to
It enables, the computer instruction makes the computer execute intelligent driving method as described in any one of claims 1 to 6.
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Cited By (1)
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