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Auxiliary parking method, auxiliary parking device, vehicle and storage medium

A technology for assisting parking and vehicles, applied in the field of vehicles, can solve problems such as difficulty in meeting medium-precision requirements

Inactive Publication Date: 2021-04-30
SANY AUTOMOBILE MFG CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

When faced with special scenarios that require high alignment accuracy, for example, in the field environment, loading and unloading trucks need to accurately put materials into the warehouse, the prerequisite is that the center alignment deviation between the longitudinal axis of the vehicle and the cylindrical material warehouse does not exceed plus or minus In this case, it is difficult to meet the alignment accuracy requirements by only relying on the driver's experience to reverse the centering method

Method used

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  • Auxiliary parking method, auxiliary parking device, vehicle and storage medium
  • Auxiliary parking method, auxiliary parking device, vehicle and storage medium
  • Auxiliary parking method, auxiliary parking device, vehicle and storage medium

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0035] Such as figure 1 As shown, according to the embodiment of the first aspect of the present invention, a method for assisting parking of a vehicle is proposed, the method comprising:

[0036] Step 102, obtaining the reversing image of the vehicle;

[0037] Step 104, determining the symmetrical line of the parking space along the length direction of the parking space according to the reversing image;

[0038] Step 106, determining the vehicle positioning line along the vehicle length direction;

[0039] Step 108, generating auxiliary parking information according to the relative position information of the vehicle positioning line and the parking space symmetry line.

[0040] In this embodiment, the marking line of the parking space is set on the ground in advance according to the size characteristics of the vehicle. When the vehicle is reversing, the reversing image of the vehicle is obtained. After it is determined that the reversing image can cover the area of ​​the p...

Embodiment 2

[0044] Such as figure 2 As shown, according to the embodiment of the first aspect of the present invention, a method for assisting parking of a vehicle is proposed, the method comprising:

[0045] Step 202, acquiring the reversing image of the vehicle;

[0046] Step 204, determining the parking symmetry line of the parking space according to the reversing image;

[0047] Step 206, determining the vehicle positioning line along the vehicle length direction;

[0048] Step 208, determining the angle between the vehicle positioning line and the parking space symmetry line;

[0049] Step 210, whether the included angle is greater than or equal to the angle threshold, if so, enter step 212, if not, enter step 214;

[0050] Step 212, generate first adjustment information according to the difference between the included angle and the angle threshold, and proceed to step 206;

[0051] Step 214, determining the first distance from the positioning point on the vehicle positioning li...

Embodiment 3

[0059] Such as image 3 As shown, according to an embodiment of the present invention, a method for assisting parking of a vehicle is proposed, the method comprising:

[0060] Step 302, acquiring the reversing image of the vehicle;

[0061] Step 304, determining the parking symmetry line of the parking space according to the reversing image;

[0062] Step 306, determining the vehicle positioning line along the vehicle length direction;

[0063] Step 308, determining the angle between the vehicle positioning line and the symmetry line of the parking space;

[0064] Step 310, whether the included angle is greater than or equal to the angle threshold, if so, enter step 312, if not, enter step 318;

[0065] Step 312, generating first adjustment information according to the difference between the included angle and the angle threshold;

[0066] Step 314, determining the reversing trajectory according to the first adjustment information;

[0067] Step 316, generate and display ...

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Abstract

The invention provides an auxiliary parking method, an auxiliary parking device, a vehicle and a storage medium, and the method comprises the steps: obtaining a reversing image of the vehicle; determining a parking space symmetry line of the parking space according to the reversing image; determining a vehicle positioning line along the length direction of the vehicle; and generating auxiliary parking information according to the relative position information of the vehicle positioning line and the parking space symmetric line. According to the technical scheme, the relative position between the vehicle and the parking space is calculated in real time through the vehicle positioning line and the parking space symmetric line, clear and visual prompts are given, the reversing direction and distance do not need to be judged depending on experience of a driver, the driving difficulty is reduced while the reversing precision is guaranteed, and the driving safety is improved, and the materials can be accurately put into a specified position.

Description

technical field [0001] The present invention relates to the technical field of vehicles, in particular, to an auxiliary parking method for a vehicle, an auxiliary parking device, a vehicle and a computer-readable storage medium. Background technique [0002] When the loading and unloading truck unloads materials, it mainly realizes the reversing alignment based on the combination of sensor data such as reversing image and reversing radar and the driver's experience. The alignment accuracy is often limited by the driver's experience. When faced with special scenarios that require high alignment accuracy, for example, in the field environment, loading and unloading trucks need to accurately put materials into the warehouse, the prerequisite is that the center alignment deviation between the longitudinal axis of the vehicle and the cylindrical material warehouse does not exceed plus or minus In this case, it is difficult to meet the alignment accuracy requirements by only relyi...

Claims

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Application Information

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IPC IPC(8): B60W30/06B60W40/02
CPCB60W30/06B60W40/02B60W2420/408B60W2420/403
Inventor 彭湃彭清祥王彦
Owner SANY AUTOMOBILE MFG CO LTD
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