Method and device for controlling parking assistance

Abstract

The present invention relates to a method for controlling parking assistance, the method comprising generating a first human-machine interaction interface (5) for controlling parking assistance on a display device; the first human-machine interaction interface (5) comprising a first area (6), the first area (6) being configured to generate at least one icon having at least one control function on the first area (6) when the parking assistance function is turned on; and the first human-machine interaction interface further comprising a second area (7), the second area (7) being configured to display detection data related to the vehicle's surroundings.

Description

Technical Field

[0001] The present invention relates to a method and a device for controlling parking assistance. Background Art

[0002] To meet the increasing parking demand, parking spaces have to be limited in size to maximize their availability. However, successfully parking a vehicle in or out of a tight space is challenging. This has led to the emergence of automated parking in / out and remote parking technologies, which have become a hot topic in vehicle research and development. To facilitate user access and control of these automated parking assist (APA) and remote parking assist features, a human-machine interface (HMI) is required to control these features.

[0003] Furthermore, the vehicle's structure inevitably creates blind spots for the driver, posing significant safety risks. To address this issue, many manufacturers are currently developing and researching surround-view imaging systems. To this end, a human-machine interface is needed to enable users to easily use and operate surround-view imaging systems.

[0004] Moreover, during automatic parking or remote parking, it is expected that users will be able to view real-time environmental monitoring data to ensure the safety of both humans and machines.

[0005] Therefore, it is expected to provide a human-computer interaction interface that allows users to easily and accurately use and operate the automatic parking assistance function, remote parking assistance (RPA) function and panoramic imaging function, while also being able to view real-time environmental monitoring data during the parking assistance function. Summary of the Invention

[0006] The purpose of the present invention is to provide a technical solution that enables users to easily and accurately use and control the automatic parking assistance function, the remote parking assistance function and the panoramic imaging function.

[0007] According to one aspect of the present invention, the foregoing objective is achieved by a method for controlling a parking assist system, the method comprising generating a first human-machine interface for controlling the parking assist system on a display device. The first human-machine interface includes a first area configured to generate at least one icon having at least one control function when the parking assist system is enabled; and a second area configured to display detection data related to the vehicle's surroundings.

[0008] According to a preferred embodiment, the at least one icon includes at least one first icon, and the at least one first icon is configured to set the characteristics of the parking operation to be performed, the characteristics including the parking direction and / or the parking method, wherein the at least one first icon includes at least one selectable icon, each of the at least one selectable icon corresponds to a drivable space.

[0009] According to a preferred embodiment, the at least one icon also includes a vehicle icon roughly in the form of a vehicle outline, and each of the selectable icons is configured to be arranged in a specific orientation and position relative to the vehicle icon to represent the orientation and position of the corresponding enterable space in the real environment, wherein the orientation and position of the enterable space in the real environment are determined by vehicle environment data.

[0010] According to a preferred embodiment, the method includes: setting a parking direction and / or parking method by selecting one of the at least one selectable icons as a target parking space, and when one of the selectable icons is selected, generating a directional arrow from the vehicle icon to the selected icon in the first human-computer interaction interface, wherein the configuration of the directional arrow roughly describes the parking trajectory.

[0011] According to a preferred embodiment, the at least one icon further includes at least one third icon configured for selecting a parking control type, wherein the parking control types include automatic parking assistance and remote parking assistance. When the third icon is operated to select remote parking assistance, a vehicle control application installed in the remote terminal for controlling remote parking assistance is activated, thereby generating a second human-computer interaction interface on the remote terminal's display device, wherein the second human-computer interaction interface includes at least one operable icon for controlling remote parking assistance.

[0012] According to a preferred embodiment, the detection data is image data from a panoramic imaging system, and a bird's-eye view obtained by the panoramic imaging system and at least one selectable perspective selection button are displayed in the first area, each perspective selection button corresponding to an image perspective, wherein each of the perspective selection buttons is arranged around the vehicle body image at a specific angular position corresponding to the image perspective it represents; and when one of the perspective selection buttons is selected, the image data under the image perspective corresponding to the perspective selection button is displayed in the second area.

[0013] According to another aspect of the present invention, the above-mentioned purpose is also achieved through a device for controlling parking assistance, which includes a computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the method described above is implemented. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] More features and advantages of the present invention can be further described through the following detailed description of specific embodiments with reference to the accompanying drawings.

[0015] Figure 1 A schematic structural block diagram of a device for controlling parking assistance according to the present invention is shown;

[0016] Figure 2-12 and Figures 24-25 showing different display states of the first human-computer interaction interface according to the present invention;

[0017] Figure 13-20 Showing different display states of the second human-computer interaction interface according to the present invention;

[0018] Figure 21-23 Showing different display states of the third human-computer interaction interface according to the present invention;

[0019] Figure 26 A flow chart showing a method for controlling a parking assistance system implemented using the device 1 according to the present invention;

[0020] Figure 27 A flow chart showing a remote control process for controlling remote parking; and

[0021] Figure 28 A flow chart of a method for controlling remote parking implemented with the aid of the second human-machine interface according to the present invention is shown. DETAILED DESCRIPTION

[0022] In this document, the term "parking" should be understood to cover both parking in and parking out.

[0023] In this context, the term “target parking space” may be understood as the elongated space that the vehicle will occupy when the parking maneuver is completed.

[0024] Figure 1 A schematic block diagram of a device 1 for controlling parking assistance according to the present invention is shown. The device 1 includes a processor 30 and a computer-readable storage medium 2 electrically connected to the processor 30. The computer-readable storage medium 2 stores a computer program. When the computer program is executed by the processor 30, a human-computer interaction interface with human-computer interaction functionality is generated on display devices 3 and 4. The human-computer interaction interface is specifically configured to enable a user to use, implement, and control parking assistance functionality (e.g., automatic parking assistance (APA) functionality or remote parking assistance (RPA) functionality) and / or real-time video monitoring functionality.

[0025] FIG2-12 illustrates a first human-machine interface 5 for controlling parking assistance, generated on a display device 3 installed in a vehicle. As shown in FIG2-12 , the first human-machine interface 5 includes a first area 6. When the parking assistance function is activated, for example, by operating a parking assistance switch, at least one icon with at least one control function is generated in the first area 6. The first human-machine interface 5 also includes a second area 7, which is configured to display detection data related to the vehicle's surroundings. This detection data is particularly video data from an onboard camera, particularly a surround-view imaging system.

[0026] According to a preferred embodiment, the first area 6 and the second area 7 are displayed side by side on the display device 3. More preferably, one of the first area 6 and the second area 7 occupies the left area of ​​the display device 3, while the other occupies the right area of ​​the display device 3. Particularly preferably, the first area 6 is located to the left of the second area 7.

[0027] Additionally or alternatively, the first human-machine interaction interface 5 may also be generated on a display device located outside the vehicle, such as a display screen of a mobile terminal.

[0028] According to a preferred embodiment, the at least one icon includes at least one first icon 8 configured to set at least one characteristic of the upcoming parking maneuver, including the parking direction and parking mode. As used herein, the term "parking direction" encompasses two aspects: the overall direction of movement of the vehicle during the parking maneuver, i.e., the direction vector from the vehicle's position at the start of the maneuver to its position at the end of the maneuver; and the rotational direction of the vehicle during the maneuver, i.e., the vehicle's self-rotation direction. The term "parking mode" encompasses at least reverse parking and forward parking.

[0029] First icon 8 includes at least one selectable icon 9, each of which corresponds to an accessible space. Parking direction and / or parking method are set by selecting one of the at least one selectable icons 9. When parking in, an accessible space can be understood as an available parking space. When parking out, an accessible space refers to an available road space for the vehicle to use after exiting the parking lot.

[0030] According to a particularly preferred embodiment, each of the selectable icons 9 is configured to be distributed in a specific orientation and position within first zone 6 to represent the orientation and position of the corresponding drivable space in the real world. The orientation and position of the drivable space in the real world are determined based on vehicle environment data, such as from onboard detection devices such as ultrasonic sensors, onboard radars, and onboard cameras, and / or received from other vehicles, a server, or the cloud. In particular, as shown in Figures 2 and 3 , the selectable icons 9 are rectangular, and in particular, rectangular frames.

[0031] According to a preferred embodiment, in order to allow the user to intuitively understand the orientation and position of the drivable space, a vehicle icon 11 in the form of a vehicle outline and / or a road icon (not shown) in the form of a road outline are also displayed. The relative positions and orientations of the vehicle icon 11, the road icon, and the rectangular frame 9 in the first area 6 correspond to the relative positions and orientations of the vehicle, the road, and the drivable space in reality.

[0032] According to a preferred embodiment, the at least one first icon 8 is further configured to indicate whether the current surrounding environment allows the parking operation. To this end, if it is determined based on the vehicle environment data that the current surrounding environment does not allow the parking operation, for example, there is no vacant parking space, the first human-computer interaction interface 5 does not include any selectable icons 9, such as Figures 24-25 If necessary, the first human-machine interaction interface 5 may not include any parameter setting button 10 (which will be explained in detail below). In addition, as the vehicle moves forward, the at least one first icon 8 updates the parking space situation in real time.

[0033] Furthermore, when one of the at least one selectable icons 9 is selected, the accessible space corresponding to that icon is selected as the target parking space for the upcoming parking maneuver. For example, a user can click on one of the selectable icons 9 to select the location corresponding to that icon as the target parking space. When a selectable icon 9 is selected, it is highlighted in the first area 6. This highlighting may occur, for example, by changing to a more striking color or changing from a non-flashing icon to a flashing icon. In the diagrams of Figures 2-3, the selected icon 9 is represented by a filled rectangular box.

[0034] According to a preferred embodiment, in the parking mode, if the longitudinal direction of the rectangular frame 9 is parallel to the longitudinal direction of the vehicle icon 11, it means that the parking space represented by the rectangular frame 9 is a parallel parking space; if the longitudinal direction of the rectangular frame 9 has a certain angle with respect to the longitudinal direction of the vehicle icon 11, it means that the parking space represented by the rectangular frame 9 is an angled parking space. In particular, if the longitudinal direction of the rectangular frame 9 is perpendicular to the longitudinal direction of the vehicle icon 11, it means that the parking space represented by the rectangular frame 9 is a vertical parking space. For example, in Figure 2a In the illustrated embodiment, the parking space represented by the rectangular frame 9-1 is a parallel parking space located to the left of the vehicle, and the parking spaces represented by the rectangular frames 9-2 and 9-3 are parallel parking spaces located one behind the other to the right of the vehicle. Figure 2b In the illustrated embodiment, the parking spaces represented by rectangular boxes 9 - 1 ′ and 9 - 2 ′ are vertical parking spaces located on the left side of the vehicle, while the parking space represented by rectangular box 9 - 3 ′ is a vertical parking space located on the right side of the vehicle.

[0035] According to a preferred embodiment, in the parking exit mode, if the longitudinal direction of the rectangular box is parallel to the longitudinal direction of the vehicle icon 11, selecting the rectangular box means executing the exit from the parallel parking space; if the longitudinal direction of the rectangular box has a certain angle with respect to the longitudinal direction of the vehicle icon 11, selecting the rectangular box means executing the exit from the angled parking space. Figure 3a In the embodiment shown, selecting the rectangular box 9-1" located in front of the left side of the vehicle icon 11 means executing a left exit from the parallel parking space. Figure 3b In the embodiment shown, selecting the rectangular box 9-2" located in the right front of the vehicle icon 11 means that the vehicle is to be parked in a forward direction from the vertical parking space to the right. Figure 3c In the illustrated embodiment, selecting the rectangular box 9-3" located to the left rear of the vehicle icon 11 means executing a reverse parking move to the left from a perpendicular parking space.

[0036] Additionally or alternatively, when a selectable icon 9 is selected, a direction arrow 12 is correspondingly generated from the vehicle icon 11 to the selected icon 9. In different parking scenarios, the direction arrow 12 may have different configurations to roughly describe the parking trajectory. For example, in Figure 2a 、 Figure 3a and 3b In the illustrated situation, the arrow 12 is in a rounded configuration, whereas in Figure 2b and Figure 3c In the scenario shown, the arrow 12 has a non-rounded configuration.

[0037] According to a preferred embodiment, the first icon 8 further includes at least one parameter setting button 10, configured to set parameters related to characteristics of the parking operation, including the type of target parking space, whether to park in reverse or forward, and / or whether to park left or right. By setting these parameters, the parking direction and method can be determined.

[0038] According to a preferred embodiment, the parameter setting button 10 is configured as an option switch button capable of switching between different preset options of the parameter. The parameter setting button 10 includes: a first option switch button 10-1 for setting the type of the target parking space, which is configured to switch between parallel parking and perpendicular parking; a second option switch button 10-2 for switching between reverse parking and forward parking; and a fourth option switch button 10-4 (see FIG. Figure 20 and / or a third option switch button 10-3 for switching between left parking and right parking. These option switch buttons 10-1 to 10-4 do not necessarily have to be shown at the same time.

[0039] Preferably, when the option switch button is allowed to switch between at least two options involved, the option switch button is shown with a first visual feature; on the contrary, when the option switch button is prohibited to switch between at least two options involved, the option switch button is shown with a second visual feature different from the first visual feature. Figure 2a and Figure 2b The comparison of the second option switch button 10-2 shows that Figure 2a The second option switch button 10-2 is prohibited from switching, and Figure 2b The second option switch button 10-2 in the display is allowed to be switched. Whether it is prohibited or allowed is determined based on the real-time environment or the feasibility and safety of the option. The visual characteristics can be color, brightness, flashing mode, shading, or whether there is fill. In addition, this differentiated display strategy also applies to all other icons involved in this application.

[0040] According to a preferred embodiment, the at least one selectable icon 9 is displayed in response to the setting of the parameters by the parameter setting button 10. It is particularly preferred that only the drivable spaces 9 that comply with the setting of the parameter setting button 10 are displayed, that is, only the drivable spaces that comply with the setting of the parameter setting button 10 are shown in the first area 6 by means of the selectable icons 9. For example, in Figure 2a In the embodiment of the present invention, if the first option switch button 10-1 is switched to "parallel", only the currently available parallel parking spaces 9 are displayed; and if the first option switch button 10-1 is switched to "vertical", Figure 2b As shown, only the currently available perpendicular parking spaces 9 are displayed.

[0041] According to a preferred embodiment, the user can preset a preferred setting as the default setting of the parameter setting button 10. This also applies to other icons, such as the second icon 14 for selecting the parking mode.

[0042] According to a preferred embodiment, the default setting of one of the parameter setting buttons depends on the current setting of another parameter setting button to comply with universal driving rules and driving habits. In an exemplary embodiment, in the parking mode, once the first option switch button 10-1 is switched to "parallel", the second option switch button 10-2 is locked to "rear entry", see Figure 2a In another exemplary embodiment, in the parking exit mode, once the first option switch button 10-1 is switched to "Parallel", the third option switch button 10-3 is switched to "Left Exit" and the fourth option switch button 10-4 is switched to "Front Exit", as shown in FIG. Figure 20 shown.

[0043] According to a preferred embodiment, the at least one first icon 8 further includes at least one non-selectable icon 13, each of the at least one non-selectable icon 13 corresponding to a currently available but non-selectable entry space, wherein the at least one selectable icon 9 and the at least one non-selectable icon 13 are displayed in the first area 6 in a visually distinct manner, in particular in a color-coded manner, such as Figure 4 "Currently available but unselectable entry spaces" refer to entry spaces that are excluded by the current option of the parameter setting button 10 but are actually available. Figure 4 In the illustrated embodiment, since the first option switch button 10-1 is in the "Parallel" option and perpendicular parking spaces are excluded, the actually available perpendicular parking spaces are displayed as unselectable icons 13 to provide the user with comprehensive parking space information. Additionally or alternatively, the unselectable icons 13 and the selectable icons 9 have the same geometric outline.

[0044] The first human-machine interface 5 also includes at least one second icon 14 configured to select a parking mode, including a parking-in ("PARK IN") mode and a parking-out ("PARK OUT") mode. According to a preferred embodiment, the second icon 14 is located in the first area 6, particularly at the top of the first area 6. Preferably, the at least one second icon 14 includes a parking-in icon 14-1 for selecting the parking-in mode and a parking-out icon 14-2 for selecting the parking-out mode.

[0045] Furthermore, the number and type of parameter setting buttons 10 shown in the first area 6 depend on the parking mode selected by the second icon 14. Figure 2aand Figure 2b In the exemplary embodiment shown, the option switch buttons 10-1 and 10-2 are displayed when the parking mode is selected. Figure 3a 、 3b In the exemplary embodiment shown in 3c, only the option switch button 10-1 is displayed when the parking-out mode is selected, and the option switch button 10-2 for selecting forward parking or reverse parking is omitted. This is because in this case, as long as an icon 9 is selected, it is also clearly determined whether to use forward parking or reverse parking.

[0046] According to a preferred embodiment, the first human-machine interaction interface 5 is configured such that the selected one of the parking-in icon 14 - 1 and the parking-out icon 14 - 2 has different visual features from the unselected one.

[0047] Additionally or alternatively, the first icon 8 is configured to be displayed simultaneously with or later than the second icon 14 .

[0048] In addition, the first human-computer interaction interface 5 also includes at least one third icon 15, and the at least one third icon 15 is configured to select a parking control type, and the parking control type includes automatic parking assistance (APA) and / or remote parking assistance (RPA). In the embodiment shown in Figures 2-3, the at least one third icon 15 is located at the bottom of the first area 6 and includes an APA icon 15-1 for selecting automatic parking assistance and an RPA icon 15-2 for selecting remote parking assistance. According to a preferred embodiment, the third icon 15 is configured to be displayed simultaneously with the first icon 8 or later than the first icon 8. Additionally or alternatively, the third icon 15 is configured to be generated in the interface or to be changed from a non-selectable icon to a selectable icon only after the parking direction and parking method are properly set through the first icon 8.

[0049] Preferably, in the parking and unloading mode, no RPA icon is generated in the interface.

[0050] Furthermore, the first human-machine interaction interface 5 is configured to generate a message prompt area 16 and at least one process control key 17 in the first area 6 to replace the first icon 8 and the third icon 15 when the APA icon 15-1 is operated to start the automatic parking assist function, see Figure 5-12 The message prompt area 16 is configured to include information and / or descriptions related to the current parking process. The at least one process control key 17 is configured to be operable to start, pause, resume, end, and / or cancel the automatic parking process, and / or return the parking process to the beginning. "Returning to the beginning" refers to returning the vehicle currently performing the automatic parking process to the position at which the vehicle was located when the automatic parking process began.

[0051] According to a preferred embodiment, in response to the operation of one of the at least one process control key 17, another of the at least one process control key 17 is generated in the interface. In particular, in response to clicking the pause key, a resume key for continuing the current parking operation, a return key for returning the vehicle to the parking starting point, and a cancel key for canceling the current parking operation are simultaneously generated in the interface, such as Figure 7 and 11 As shown. The user can choose to click one of these three keys as needed. This design is also applicable to the second human-computer interaction interface 18 described in detail below.

[0052] The first human-machine interface 5 also includes a warning area 20, which is configured to generate prompt information and / or warning information, such as indicating the operation that the driver should perform. In the embodiment shown in the drawings, the warning area 20 is located to the right of the first area 6 and above the second area 7.

[0053] Figure 13-19 The second human-machine interface 18 for controlling remote parking is shown on the display device 4 of a remote terminal (such as a mobile phone) outside the vehicle. The second human-machine interface 18 also includes a control area 19, which is configured to include at least one operable icon 22 with at least one control function.

[0054] According to a preferred embodiment, the operable icons 22 include: a first operable icon 22-1 for starting the vehicle, a second operable icon 22-2 for activating the remote parking exit function, a third operable icon 22-3 for starting the remote parking exit operation, a fourth operable icon 22-4 for starting the remote parking entry operation, a fifth operable icon 22-5 for manipulating parking, a sixth operable icon 22-6 for resuming the parking operation, a seventh operable icon 22-7 for returning to the beginning, a twelfth operable icon 22-12 for confirming the return to the beginning, an eighth operable icon 22-8 for canceling an upcoming or ongoing parking operation, a ninth operable icon 22-9 for shutting down the vehicle, a tenth operable icon 22-10 for switching to manual control of the vehicle, a disagree key 22-11 for disagreeing with the execution of remote parking, and a parameter setting button 10. The above description of the parameter setting button 10 in the first human-machine interaction interface 5 is applicable to the parameter setting button in the second human-machine interaction interface 18.

[0055] According to a preferred embodiment, the fifth operable icon 22-5 for manipulating parking is configured to cause the vehicle to move to perform parking only when pressed by the user. That is, once the user releases the fifth operable icon 22-5, the vehicle will be stopped so that parking is paused. In another preferred embodiment, the fifth operable icon 22-5 is configured to start the parking operation when single-clicked by the user and to pause the parking operation when double-clicked by the user, wherein the fifth operable icon 22-5 is configured so that when double-clicked by the user, the fifth operable icon 22-5 is replaced by the sixth operable icon 22-6 for resuming the parking operation, that is, the interface 18 is changed from Figure 14 The status shown switches to Figure 15 The status shown.

[0056] According to a preferred embodiment, when the parking operation is paused, when the seventh operable icon 22-7 for returning to the start is clicked, a twelfth operable icon 22-12 for confirming the execution of returning to the start is generated in the second human-computer interaction interface 18, that is, the interface 18 is changed from Figure 15 The status shown switches to Figure 16 The operation of returning to the beginning is performed only when the twelfth operable icon 22-12 is clicked.

[0057] According to a preferred embodiment, a plurality of the operable icons 22 are configured to be generated in the second human-computer interaction interface 18 in a manner of one responding to another and replacing each other.

[0058] Additionally or alternatively, a plurality of the operable icons 22 are configured to be displayed simultaneously in the second human-computer interaction interface 18. In this case, one of the plurality of operable icons 22 displayed simultaneously has a highlighted visual feature relative to the remaining icons, particularly having a more vivid color or a significantly larger size.

[0059] In addition, the second human-machine interaction interface 18 includes a message bar 21 located above the control area 19. The message bar is configured to display a disclaimer, the current progress of the parking operation, safety warnings, driving precautions, etc.

[0060] Furthermore, when the RPA icon 15-2 in the first human-machine interaction interface 5 is operated to start the remote parking assistance function, the vehicle sends a command to the remote terminal to wake up the vehicle control application installed in the remote terminal, thereby generating a second human-machine interaction interface 18 having a fourth operable icon 22-4 for starting the remote parking operation on the display device 4 of the remote terminal (see Figure 13 The user can then exit the vehicle and use the remote terminal to control the parking maneuver.

[0061] Figure 21-23A third human-machine interaction interface 24 for using and controlling the panoramic imaging function, generated on the display device 3, is shown. The third human-machine interaction interface 24 includes a first area 25 in which a bird's-eye view obtained by the panoramic imaging system is displayed. The third human-machine interaction interface 24 also includes a second area 26 in which image data obtained by the panoramic imaging system is displayed.

[0062] According to a preferred embodiment, at least one selectable perspective selection button 28 is arranged around the vehicle image 27 in the bird's-eye view. Each perspective selection button 28 corresponds to a specific image perspective. Furthermore, each perspective selection button 28 is positioned around the vehicle image 27 at a specific angular position corresponding to the image perspective it represents. When one of the perspective selection buttons 28 is selected, image data for the image perspective corresponding to that perspective selection button 28 is displayed in the second area 26.

[0063] like Figure 21 As shown, the perspective selection button 28 includes: a first perspective selection button 28-1 for selecting a 360-degree panoramic front view, a second perspective selection button 28-2 for selecting a 360-degree panoramic front right view, a third perspective selection button 28-3 for selecting a 360-degree panoramic right view, a fourth perspective selection button 28-4 for selecting a 360-degree panoramic rear right view, a fifth perspective selection button 28-5 for selecting a 360-degree panoramic rear view, a sixth perspective selection button 28-6 for selecting a 360-degree panoramic rear left view, and a seventh perspective selection button 28-8 for selecting a 360-degree panoramic left view. Selection button 28-7, eighth perspective selection button 28-8 for selecting the 360 ​​panoramic front left view, ninth perspective selection button 28-9 for selecting the normal front view, tenth perspective selection button 28-10 for selecting the normal right view, eleventh perspective selection button 28-11 for selecting the normal rear view, twelfth perspective selection button 28-12 for selecting the normal left view, thirteenth perspective selection button 28-13 for selecting the front fork in the road simulation image, and fourteenth perspective selection button 28-14 for selecting the rear fork in the road simulation image.

[0064] Furthermore, the third human-machine interaction interface 24 further includes a view mode setting button 29 located in the first area 25, which is configured to set the view mode of the image data displayed in the second area 26. The view modes include a normal view mode and a 360-degree panoramic view mode. The normal view mode is, for example, a view from the vehicle to the surrounding environment, while the 360-degree panoramic view mode is, for example, a view from the surrounding environment to the vehicle.

[0065] In the illustrated embodiment, the view mode setting button 29 is configured as a single toggle button. Clicking the toggle button can switch the image view in the second area 26 from the currently displayed mode to another mode. Preferably, the view mode setting button 29 has a textual indication indicating which view mode will be switched to if the view mode setting button 29 is clicked.

[0066] The third human-computer interaction interface 24 further includes a setting button 30 located in the first area 25, wherein the setting button 30 is configured to generate at least one option switch 32 of at least one parameter related to image display in the first area 25 if clicked, so as to replace the bird's-eye view image with the perspective selection button 28, as shown in FIG. Figure 23 After setting, you can click the return key 31 to return to the bird's-eye view.

[0067] The second human-machine interaction interface 18 further includes a warning area 20'. The above description of the warning area 20 of the first human-machine interaction interface 5 is applicable to the warning area 20'.

[0068] In addition, the third human-machine interaction interface 24 has a close button 33 located in the upper right corner. The user can close the third human-machine interaction interface by clicking the close button to return to the home page of the vehicle main control unit.

[0069] Figure 26 A flow chart of a method 100 for controlling a parking assistance system, which is carried out using the device 1 according to the present invention, is shown.

[0070] First, in step S101 , the parking assist function is turned on, for example, by operating a soft switch or a hard switch for turning on the parking assist function.

[0071] Then, when the parking-in function is preset as a default option or selected by the user, the process proceeds to step S102 ; conversely, when the parking-out function is preset as a default option or selected by the user, the process proceeds to step S107 .

[0072] In step S102, a display such as that shown in FIG. 2 or FIG. Figure 4 The first human-machine interaction interface 5 shown replaces the homepage of the vehicle main control unit.

[0073] Then, in step S103, the user sets the characteristics of the upcoming parking operation by operating the first icon 8, for example, by operating the option switch buttons 10-1 and 10-2 and by selecting the selectable icon 9. After the settings are completed, the user selects a parking assistance control mode by clicking one of the third icons 15.

[0074] If the user clicks the APA icon 15-1 to select automatic parking assistance, the process proceeds to step S104. If the user clicks the RPA icon 15-2 to select remote parking assistance, the process proceeds to remote control process 200, which will be described in detail below. Remote parking is particularly advantageous in situations where the parking space is so narrow that the driver may find it difficult to open the door and exit the vehicle after parking.

[0075] In step S104, the vehicle control unit confirms whether the current state of the vehicle is suitable for performing the automatic parking operation in response to the received instruction to perform the automatic parking assist operation. Figure 5 shown.

[0076] If it is confirmed that the current state of the vehicle is not suitable for performing the automatic parking operation, then step S120 is entered. In step S120, the automatic parking assistance is turned off, and the first human-machine interaction interface 5 is, for example, Figure 8 As shown, then enter step S130. In step S130, the first human-computer interaction interface 5 is exited and jumps to the homepage of the main control unit. In addition, if the user selects the cancel key 17 during the confirmation step S104, then also come to the above-mentioned closing step S120.

[0077] On the contrary, if it is confirmed that the current state of the vehicle is suitable for performing the automatic parking operation, then step S105 is entered. In step S105, the automatic parking operation is performed. The first human-machine interaction interface 5 during the execution of the automatic parking operation is as follows: Figure 6 During the automatic parking operation, if the user does not pause the automatic parking operation by operating the pause button 17, the automatic parking operation is executed until the parking is completed in step S119. On the other hand, if the pause button 17 is selected during the automatic parking operation in step S105, the process proceeds to step S106.

[0078] In step S106, the automatic parking operation is suspended, and the first human-machine interaction interface 5 is as shown in FIG. Figure 7 As shown. At this point, if the Cancel button is selected, the process proceeds to the aforementioned closing step S120. If the Resume button is selected, the process proceeds to the confirmation step S104, where the current parking operation is continued if the vehicle's current state is deemed suitable for automatic parking. If the Return to Start button is selected, the process also proceeds to the confirmation step S104, where the vehicle is returned to its starting point if the vehicle's current state is deemed suitable for automatic parking. If no user instruction is received after a preset time period, the process proceeds to the closing step S120.

[0079] Furthermore, in step S107 , a first human-machine interaction interface 5 , for example as shown in FIG3 , is generated on the display device 3 to replace the homepage of the main control unit.

[0080] Then, in step S108, the user sets the characteristics of the upcoming parking operation by operating the first icon 8, for example, by operating the option switch button 10-1 and selecting the selectable icon 9. After the settings are completed, the user starts the automatic parking exit operation by clicking the APA icon 15-1 and proceeds to step S109.

[0081] In step S109, the vehicle control unit responds to the received instruction to execute the automatic parking assist and determines whether the current state of the vehicle is suitable for executing the automatic parking operation. Figure 9 shown.

[0082] If it is confirmed that the current state of the vehicle is not suitable for performing the automatic parking operation, the process proceeds to the above-mentioned closing step S120. In step S120, the first human-machine interaction interface, for example, Figure 12 In addition, if the user selects the cancel key during the confirmation step S109, the above-mentioned closing step S120 is also reached.

[0083] On the contrary, if it is confirmed that the current state of the vehicle is suitable for performing the automatic parking operation, then step S111 is entered. In step S111, the automatic parking out operation is performed. The first human-machine interaction interface 5 during the automatic parking out operation is as follows: Figure 10 During the automatic parking exit, if the user does not pause the automatic parking operation by operating the pause button, the automatic parking exit operation is executed until the parking exit is completed in step S119. Conversely, if the pause button 17 is selected during the automatic parking exit operation in step S111, the process proceeds to step S112.

[0084] In step S112, the automatic parking operation is suspended, and the first human-machine interaction interface 5 is as shown in FIG. Figure 11 At this time, if the cancel button is selected, the process proceeds to the above-mentioned closing step S120. If the return button or the restore button is selected, the process proceeds to the above-mentioned confirmation step S109. If no instruction from the user is received after the preset time period, the process proceeds to the closing step S120.

[0085] Figure 27 FIG. 2 is a flow chart showing a remote control process 200 for controlling remote parking. Figure 27As shown, after the RPA icon 15-2 on the first human-machine interaction interface 5 is clicked, the process proceeds to step S114. In step S114, the vehicle control application installed in the remote terminal is awakened in response to the signal from the vehicle, thereby generating a display as shown in the display device 4 of the remote terminal. Figure 13 The second human-machine interaction interface 18 is shown. At this time, if the user selects the fourth operable icon 22-4 for starting the remote parking operation, the process proceeds to step S115; if the user selects the disagree key 22-11, the process proceeds to step S140.

[0086] In step S140, the remote parking function is turned off, and then step S160 is executed. In step S160, the second human-machine interaction interface 18 is exited and switched to the home page.

[0087] In step S115, the remote parking operation is executed, and the second human-computer interaction interface is as follows: Figure 14 At this time, if the user releases or double-clicks the fifth operable icon 22-5 for controlling parking, the process proceeds to step S117; otherwise, the remote parking operation is executed until the parking is completed in step S116, and then the process proceeds to step S150. In step S150, the second human-computer interaction interface has a ninth operable icon 22-9 for shutting down the vehicle and a tenth operable icon 22-10 for switching to manual control of the vehicle, as shown in FIG. Figure 17 As shown. At this time, the user can complete the vehicle's flameout and lock by clicking the ninth operable icon 22-9. In addition, the user can also convert to manual control of the vehicle by clicking the tenth operable icon 22-10.

[0088] In step S117, the remote parking operation is suspended, and the second human-machine interaction interface 18 is as shown in FIG. Figure 15 At this time, if the cancel key 22-8 is selected, the process proceeds to the above-mentioned closing step S140. If the resume key 22-6 is selected, the process continues to step S115 until the parking is completed. If the return key 22-7 is selected, the process proceeds to step S118.

[0089] In step S118, if the cancel key 22-8 is selected, the process proceeds to the above-mentioned closing step S140. If the restore key 22-6 is selected, the process proceeds to step S117. If the return key 22-7 is selected, the process proceeds to step S121.

[0090] In step S121, the operation of returning the vehicle to the parking starting point is executed, and after completion, the process proceeds to step S150.

[0091] It should be noted that when the remote parking control program in the remote terminal is activated by clicking the RPA icon 15-2 in the first human-computer interaction interface 5, the parking direction and parking method set in the first human-computer interaction interface 5 by means of the first icon 8 are valid for this parking operation, and the user is no longer required to make secondary settings in the second human-computer interaction interface 18.

[0092] Figure 28 A flow chart of a method 300 for controlling remote parking, which is implemented with the aid of the second human-machine interface 18 according to the present invention, is shown.

[0093] like Figure 28 As shown, in step S301, the vehicle control application installed in the remote terminal is started to generate the application homepage on the display device 4 of the remote terminal. When the user chooses to start the vehicle, a homepage is generated on the display device 4. Figure 18 The second human-machine interaction interface 18 is shown in step S302. If the disagree button 22-11 in the second human-machine interaction interface 18 is clicked, the process proceeds to step S140 of closing in process 200. If the first operable icon 22-1 for starting the vehicle in the second human-machine interaction interface 18 is clicked, the vehicle is started, and the process proceeds to step S303.

[0094] In step S303, the second human-computer interaction interface 18 switches to the middle Figure 19 If the second operable icon 22 - 2 for opening the remote parking exit function is clicked, the process proceeds to step S304 ; if the disagree key 22 - 11 is clicked, the process proceeds to the closing step S140 in the process 200 .

[0095] Next, in step S304, the second human-computer interaction interface 18 presents Figure 20 The user can use this interface to set the exit method and direction. After completing the settings, the user can start the remote parking exit operation by clicking the third operable icon 22-3 for starting the remote parking exit operation. Once the third operable icon 22-3 is clicked, the process jumps to step S115 described above.

[0096] In addition, if the remote terminal receives an instruction from the vehicle for executing remote parking, the process jumps to executing the remote control process 200 described above.

[0097] It should be noted that the icons in the human-computer interaction interface mentioned in this article may have text instructions when necessary.

[0098] In addition, it should be noted that the description herein of the second area 26 of the third human-machine interaction interface 24 is also applicable to the second area 7 of the first human-machine interaction interface 5 .

[0099] Although some embodiments have been described, these embodiments are presented by way of example only and are not intended to limit the scope of the invention. The appended claims and their equivalents are intended to cover all modifications, substitutions and changes that fall within the scope and spirit of the invention.

Claims

1. A method for controlling a parking assist system, the method comprising: Generating a first human-machine interaction interface (5) for controlling parking assistance on a display device; The first human-machine interaction interface (5) includes a first area (6), and the first area (6) is configured to: when the parking assistance function is turned on, generate at least one icon having at least one control function on the first area (6); the first human-machine interaction interface also includes a second area (7), and the second area (7) is configured to display detection data related to the vehicle's surrounding environment; The method further comprises: When it is detected that there is a space for parking around the vehicle, at least one first icon (8) is generated in the first human-computer interaction interface (5), the at least one first icon being configured to set the characteristics of the parking operation to be performed, the characteristics including the parking direction and / or the parking method, and the at least one first icon (8) including at least one selectable icon (9), each of the at least one selectable icon corresponding to a drivable space, wherein the at least one icon also includes a vehicle icon (11) for representing the vehicle, the first icon (8) also includes at least one parameter setting button (10), the at least one parameter setting button (10) being configured to set parameters related to the characteristics of the parking operation to be performed, the parameters including: the type of the target parking space, whether to use a reverse mode or a forward mode, and / or to park to the left or to park to the right, wherein the parameter setting button (10) is configured as an option switching button for switching between different preset options of the parameters, and the at least one selectable icon (9) is displayed in response to the setting of the parameters through the parameter setting button (10); and The at least one first icon (8) further includes at least one unselectable icon (13), each of the at least one unselectable icon corresponding to a currently available but unselectable entry space, wherein the currently available but unselectable entry space refers to an entry space that is excluded by the current option of the parameter setting button (10) but is actually available, wherein the at least one selectable icon (9) has a visual feature different from that of the at least one unselectable icon (13).

2. The method according to claim 1, characterized in that Each of the selectable icons (9) is configured to be arranged in a specific orientation and position relative to the vehicle icon (11) to represent the orientation and position of the corresponding drivable space in the real environment, wherein the orientation and position of the drivable space in the real environment are determined by vehicle environment data; and The method comprises setting a parking direction and / or a parking mode by selecting one of the at least one selectable icons (9) as a target parking space.

3. The method according to claim 1 or 2, characterized in that The selectable icon (9) and / or the non-selectable icon (13) are in the form of a rectangle; and / or When one of the selectable icons (9) is selected, a direction arrow (12) pointing from the vehicle icon (11) to the selected icon (9) is generated in the first human-machine interaction interface (5), and the configuration of the direction arrow roughly describes the parking trajectory.

4. The method according to claim 1 or 2, characterized in that The at least one icon further includes at least one second icon (14), wherein the at least one second icon is configured to select a parking mode, wherein the parking mode includes a parking-in mode and a parking-out mode, and the first icon is displayed based on the parking mode selected by the second icon (14).

5. The method according to claim 1 or 2, characterized in that The at least one icon further includes at least one third icon (15) configured to be used for selecting a parking control type, the parking control type including automatic parking assist (APA) and remote parking assist (RPA).

6. The method according to claim 5, characterized in that The method comprises: When the third icon is operated to select the automatic parking assist (APA), at least one process control key (17) is generated in the first area (6) to replace the at least one first icon (8) and the at least one third icon (15), wherein the at least one process control key (17) is configured to be respectively capable of being operated to start, pause, resume, end and / or cancel an automated parking sequence, and / or to return the vehicle to the position in which the vehicle was when the automated parking sequence was initiated; When the third icon is operated to select remote parking assistance (RPA), a vehicle control application for controlling remote parking assistance installed in the remote terminal is awakened, thereby generating a second human-computer interaction interface (18) on the display device (4) of the remote terminal, wherein the second human-computer interaction interface (18) includes at least one operable icon (22) for controlling remote parking assistance.

7. The method according to claim 6, characterized in that The at least one operable icon (22) is configured to be operable to start, pause, resume, end and / or cancel a remote parking procedure, and the at least one operable icon (22) includes an icon (22-5) for manipulating parking, which is configured to cause the vehicle to move to perform parking only when pressed by a user; and / or When the second human-computer interaction interface (18) has two or more operable icons (22) at the same time, one of the operable icons (22) is highlighted relative to the other operable icons.

8. The method according to any one of claims 1, 2, 6 and 7, characterized in that: The first area (6) and the second area (7) are displayed side by side on the display device; and / or When one of the selectable icons (9) is selected, the icon is highlighted; and / or The detection data is panoramic image data, and a bird's-eye view obtained by the panoramic imaging system and at least one selectable viewing angle selection button (28) are displayed in the first area, each viewing angle selection button corresponding to an image viewing angle, so that when one of the viewing angle selection buttons is selected by the user, image data under the image viewing angle corresponding to the viewing angle selection button is displayed in the second area, wherein each of the viewing angle selection buttons (28) is arranged around the vehicle body image (27) in the bird's-eye view at a specific angular position corresponding to the image viewing angle it represents.

9. The method according to claim 3, characterized in that The first area (6) and the second area (7) are displayed side by side on the display device; and / or When one of the selectable icons (9) is selected, the icon is highlighted; and / or The detection data is panoramic image data, and the first area displays the panoramic image data. The invention relates to a vehicle body image (27) obtained by an imaging system and at least one selectable viewing angle selection button (28), each viewing angle selection button corresponding to an image viewing angle, so that when one of the viewing angle selection buttons is selected by a user, image data under the image viewing angle corresponding to the viewing angle selection button is displayed in a second area, wherein each of the viewing angle selection buttons (28) is arranged around the vehicle body image (27) in the bird's-eye view at a specific angular position corresponding to the image viewing angle it represents.

10. The method according to claim 4, characterized in that The first area (6) and the second area (7) are displayed side by side on the display device; and / or When one of the selectable icons (9) is selected, the icon is highlighted; and / or The detection data is panoramic image data, and a bird's-eye view obtained by the panoramic imaging system and at least one selectable viewing angle selection button (28) are displayed in the first area, each viewing angle selection button corresponding to an image viewing angle, so that when one of the viewing angle selection buttons is selected by the user, image data under the image viewing angle corresponding to the viewing angle selection button is displayed in the second area, wherein each of the viewing angle selection buttons (28) is arranged around the vehicle body image (27) in the bird's-eye view at a specific angular position corresponding to the image viewing angle it represents.

11. The method according to claim 5, characterized in that The first area (6) and the second area (7) are displayed side by side on the display device; and / or When one of the selectable icons (9) is selected, the icon is highlighted; and / or The detection data is panoramic image data, and a bird's-eye view obtained by the panoramic imaging system and at least one selectable viewing angle selection button (28) are displayed in the first area, each viewing angle selection button corresponding to an image viewing angle, so that when one of the viewing angle selection buttons is selected by the user, image data under the image viewing angle corresponding to the viewing angle selection button is displayed in the second area, wherein each of the viewing angle selection buttons (28) is arranged around the vehicle body image (27) in the bird's-eye view at a specific angular position corresponding to the image viewing angle it represents.

12. A device for controlling parking assistance, the device comprising a computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the method according to any one of claims 1 to 11 is implemented.

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