Parking method, device and system

Abstract

The present invention discloses a parking method, device and system. The parking method comprises the steps that a parking auxiliary controller generates an expected parking trajectory of a vehicle and controls the vehicle to travel along the expected parking trajectory; a parking auxiliary system obtains first detection information in real time and transmits the first detection information to the parking auxiliary controller; the parking auxiliary controller calculates first collision reference information according to the first detection information; a detection system obtains second detection information in real time and transmits the second detection information to a detection controller; the detection controller obtains second collision reference information according to the second detection information in real time and sends the second collision reference information to the parking auxiliary controller; and the parking auxiliary controller controls the vehicle according to the first collision reference information and the second collision reference information. According to the parking method, the detection range of the parking auxiliary system can be expanded, and the load of all the controllers can be reasonably distributed.

Description

Technical field [0001] The invention relates to the field of automatic driving, in particular to a parking method, device and system. Background technique [0002] The parking assist system can automatically park in place without manual intervention. Its working state mainly includes the following parts: off, the system is off, the driver cannot adjust the function parameters; searching for parking spaces, the system is in the state of searching for parking spaces, but the automatic parking function does not control the vehicle horizontally and vertically; Control, the automatic parking system can control the horizontal and vertical control of the self-car through the parking control module; failure, the sensor of the automatic parking system has a software and hardware failure or the execution related system (EMS, ESP, EPS) fails. [0003] At present, the sensors implemented by the automatic parking system are mainly ultrasonic radars or panoramic cameras, and the above-mentioned...

AI Technical Summary

Problems solved by technology

Its working status mainly includes the following parts: off, the system is in the off state, and the driver cannot adjust the function parameters; searching for parking spaces, the system is in the state of searching for parking spaces, but the automatic parking function does not control the vehicle horizontally and vertically; horizontally and vertically Control, the automatic parking system can control the horizontal and vertical control of the vehicle through the parking control module; failure, the sensor of the automatic parking system has a software and hardware failure or the execution related system (EMS, ESP, EPS) has a failure

[0003] At present, the sensors implemented in the automatic parking system are mainly ultrasonic radars or panoramic cameras, but the above sensors cannot detect long-distance (about 4 meters) obstacles in the front and rear of the vehicle.

Due to the extremely complicated domestic traffic conditions, pedestrians, bicycles, battery cars and motorcycles pass through the parking lot. If the vehicle only uses ultrasonic radar or panoramic camera for obstacle detection, it will collide with crossing road users

At present, the occurrence of this phenomenon is usually avoided through the driver's observation, which leads to the low safety performance of the parking assistance system at a long distance and poor user experience.

Images