Automated Driving Assistance Systems

Abstract

An automatic driving assistance system is used to solve the problem that the positioning unit installed in the conventional vehicle has poor accuracy, which leads to positioning errors. It includes: a positioning unit, which is used to generate a vehicle body coordinate; a correction module, which is used to obtain the correction parameters between the vehicle and the positioning reference object; a processor module, which receives a parking path, which is composed of a plurality of track coordinates, each of which has an actual value between the track coordinate and the positioning reference object, and the processor module analyzes whether the vehicle body coordinate is the same as an end point coordinate. If not, the processor module obtains a track coordinate closest to the vehicle body coordinate, controls the vehicle to move to the track coordinate, calculates the difference between the correction parameter and the actual value, and enables the vehicle-mounted computer to control the vehicle to perform movement compensation according to the difference.

Description

Technical Field

[0001] The present invention relates to a vehicle assistance system, in particular to an automatic driving assistance system capable of correcting the position coordinates of a vehicle that is performing an automatic parking function. Background Art

[0002] Please refer to Figure 1 , which is a conventional fully automatic parking path determination device 9, the conventional fully automatic parking path determination device 9 has a parking space module 91, a first judgment module 92, a second judgment module 93, a third judgment module 94, a path module 95 and a control module 96, the control module 96 determines a drivable area and a target parking space of a target vehicle through the parking space module 91, and executes the first judgment module 92 to determine whether the target vehicle can drive to the target parking space based on a first preset trajectory, if the judgment result is no, then further execute the second judgment module 93 to confirm whether the target vehicle can drive to the target parking space based on a second preset trajectory, if the confirmation result is no, then further execute the third judgment module 94 to evaluate whether the target vehicle can drive to the target parking space based on a third preset trajectory, if the evaluation result is yes, then execute the path module 95 to set the third preset trajectory as the parking path of the target vehicle. A fully automatic parking path determination device 9 similar to the conventional one has been published in the Chinese patent case with the number CN111497829A.

[0003] The above-mentioned conventional fully automatic parking path determination device 9 can detect and update the position coordinates of the target vehicle after the control module 96 executes the parking path planning in sequence through the first judgment module 92, the second judgment module 93 and the third judgment module 94. However, due to the accuracy problem of the positioning unit 97, the position coordinates detected by the positioning unit 97 will have slight errors. These errors continue to accumulate and grow as the target vehicle moves along the parking path, resulting in the target vehicle ultimately failing to park correctly in the target parking space.

[0004] Therefore, the conventional fully automatic parking path determination device still needs to be improved. Summary of the invention

[0005] 1. Technical issues to be resolved

[0006] To solve the above problems, an object of the present invention is to provide an automatic driving assistance system that is capable of correcting the position coordinates of a vehicle that is performing an automatic parking function.

[0007] (II) Technical solution

[0008] A second object of the present invention is to provide an automatic driving assistance system that can allow a driver to remotely call a vehicle so that the vehicle automatically drives to the driver's side.

[0009] The directions or their approximate terms described throughout the present invention, such as (front), (back), (left), (right), (upper (top)), (lower (bottom)), (inside), (outside), (side), etc., are mainly with reference to the directions of the attached drawings. Each direction or its approximate terms are only used to assist in the explanation and understanding of the embodiments of the present invention, and are not used to limit the present invention.

[0010] The elements and components described throughout the present invention use the quantifiers (one) or (a) only for convenience of use and to provide a general meaning of the scope of the present invention; in the present invention, they should be interpreted as including one or at least one, and a single concept also includes plural cases, unless it is obvious that it means otherwise.

[0011] The (Cloud Server) described in the full text of the present invention is established using virtualization software to divide a physical (bare metal) server into multiple virtual servers for executing applications and information processing and storage; users can remotely access the functions of the multiple virtual servers through an online interface.

[0012] The "database" mentioned in the present invention refers to a group of related electronic data collected and stored in a hard disk, memory or a combination thereof, and the electronic data can be processed with the help of syntax functions provided by a database management system (DBSMS), such as adding, reading, searching, updating and deleting; the database management system can manage the electronic data with the help of different data structures, such as associative, hierarchical, network or object-oriented. The present invention takes an associative database management system as an example for the following description, but it is not intended to limit the present invention.

[0013] The term "coupling" as used throughout the present invention refers to any direct or indirect means of connection between two devices to transfer data to each other. For example, a first device is coupled to a second device, which should be interpreted in the present invention as the first device being directly connected to the second device, for example, by means of a wired entity (such as a wire, a flat cable, a wiring, a twisted pair); or the first device being indirectly connected to the second device through other devices or some connection means, for example, by means of a wireless medium (such as WiFi, Bluetooth) or a heterogeneous network. A person with ordinary knowledge in the art can select a connection means according to the normal connection means of the devices to be connected.

[0014] The automatic driving assistance system of the present invention comprises: a positioning unit for being arranged on a vehicle, the positioning unit being used to locate the position of the vehicle to generate a vehicle body coordinate; a correction module for being arranged on the vehicle, the correction module being used to obtain a reference distance and a reference angle between the vehicle and a positioning reference object; and a processor module, electrically connected to the positioning unit and the correction module, when the processor module receives a parking signal, controls the positioning unit and the correction module to start and receive a parking path, the parking path is composed of a plurality of track coordinates including an end point coordinate, each of the track coordinates has a relative distance and a relative angle with the positioning reference object, the processor module analyzes whether the vehicle body coordinate is the same as the end point coordinate to confirm the parking path. Whether the vehicle is located in the parking space, if the analysis result is no, then a trajectory coordinate closest to the vehicle body coordinate is obtained from the multiple trajectory coordinates, and the trajectory coordinate is located between the vehicle and the parking space, the processor module sends a movement signal to an on-board computer of the vehicle, so that the on-board computer controls the movement of the vehicle until the body coordinates detected by the positioning unit are the same as the trajectory coordinates, the processor module calculates the reference distance and reference angle detected by the correction module to obtain a correction parameter, and calculates the difference between the correction parameter and an actual value calculated by the relative distance and relative angle corresponding to the trajectory coordinate. If the difference is not equal to zero, a movement compensation signal is sent to the on-board computer, so that the on-board computer controls the vehicle to perform movement compensation based on the difference.

[0015] Accordingly, the automatic driving assistance system of the present invention can subdivide the parking path into multiple trajectory coordinates through a few hardware devices and simple computer processing operations, and enable the vehicle to only move to the next trajectory coordinate in each movement process. Moreover, when the body coordinates detected by the positioning unit are the same as the trajectory coordinates, the processor module obtains the reference distance and reference angle between the vehicle and the positioning reference object through the correction module to obtain the correction parameter, and calculates the difference between the correction parameter and the actual value calculated by the relative distance and relative angle corresponding to the trajectory coordinates, and when the difference is not equal to zero, the on-board computer controls the vehicle to perform movement compensation according to the difference. Therefore, the automatic driving assistance system of the present invention has the functions of simplifying hardware costs, reducing computer computing performance requirements, completing path planning in a guided manner through the multiple trajectory coordinates, and improving the coordinate accuracy of the positioning unit through the correction module.

[0016] Among them, there is a starting point coordinate among the multiple track coordinates. Before the vehicle moves along the multiple track coordinates, the processor module can calculate the distance between the vehicle body coordinates and each of the track coordinates, and use the track coordinate closest to the vehicle body coordinate as the starting point coordinate. The processor module calculates a direction angle and a distance value of the vehicle body coordinate relative to the starting point coordinate, and sends a movement signal including the direction angle and the distance value to the on-board computer, so that the on-board computer can control the vehicle to move to the starting point coordinate according to the direction angle and the distance value. Therefore, it has the effect of correcting the initial position of the vehicle so that the vehicle body coordinates of the vehicle meet the starting point coordinates of the parking path.

[0017] Among them, there is a starting point coordinate among the multiple track coordinates. When the processor module receives a car calling signal, it can control the positioning unit and the correction module to start, and confirm whether the vehicle body coordinates are the same as the starting point coordinates to confirm whether the vehicle moves from the parking space to the driver of the vehicle. If the confirmation result is no, a track coordinate closest to the vehicle body coordinate can be obtained from the multiple track coordinates, and the track coordinate is located between the end point coordinate and the starting point coordinate. The processor module can send a movement signal to the on-board computer, so that the on-board computer controls the movement of the vehicle until the vehicle body coordinates detected by the positioning unit are the same as the track coordinates. Therefore, it has the effect of providing the driver with the remote calling of the vehicle to a predetermined location.

[0018] When the parking space is located in an indoor parking lot, the positioning reference object may be a pillar located in the indoor parking lot, and the calibration module may be an ultrasonic unit. When the vehicle moves to the trajectory coordinate, the processor module may emit ultrasonic waves toward the pillar through the ultrasonic unit and receive the ultrasonic echo to obtain the reference distance and reference angle between the vehicle and the pillar. In this way, the vehicle body coordinates are calibrated according to the setting position of the pillar in the parking lot.

[0019] Wherein, when the parking space is located in an indoor parking lot, the positioning reference object can be the grid lines and parking space numbers of the parking space in the indoor parking lot, and the correction module can be an image capture unit. When the vehicle moves to the trajectory coordinates, the processor module can shoot the grid lines and parking space numbers through the image capture unit to generate a parking space image. The processor module can obtain the reference distance and reference angle between the vehicle and the grid lines from the parking space image based on the image processing technology. Therefore, it has the effect of correcting the body coordinates of the vehicle according to the setting position of the parking space grid lines.

[0020] The automatic driving assistance system of the present invention may further include a dynamic estimation module electrically connected to the processor module, and having a displacement sensing unit and a yaw angle sensing unit, wherein the displacement sensing unit and the yaw angle sensing unit are respectively used to detect the displacement and yaw angle of the vehicle moving to the track coordinates to obtain a current displacement change and a yaw angle change. When the vehicle moves to the track coordinates, the processor module calculates a parameter value according to the current displacement change and the yaw angle change, and calculates the difference between the parameter value and a corresponding parameter preset value. If the difference is not equal to zero, a movement compensation signal is sent to the on-board computer, so that the on-board computer controls the vehicle to perform movement compensation according to the current displacement change and the yaw angle change of the track coordinates. Therefore, it is possible to ensure that the vehicle moves along the multiple track coordinates, and has the effect of improving parking accuracy.

[0021] The automatic driving assistance system of the present invention may further include a path generation module electrically connected to the processor module, the path generation module can collect an original parking path when multiple drivers park their vehicles in the parking space, each of the original parking paths is composed of vehicle body coordinates detected by the positioning unit of each vehicle, and the path generation module uses the multiple original parking paths as input variables of a neural network model to generate the parking path, which is a driving path that allows the driver on the vehicle to have the best driving comfort during the process of the vehicle moving to the parking space. Therefore, the parking path can be continuously improved and updated to the most suitable path through the driving experience-related data of multiple drivers, so that the vehicle can avoid collision with obstacles on the way and have a more comfortable driving process during the process of moving along the parking path toward the parking space, and has the effect of improving parking safety and driving comfort.

[0022] The neural network model has another input variable, which is a vibration acceleration value between any two adjacent vehicle coordinates constituting the original parking path, obtained through a vibration accelerometer and a spectrum analyzer. Therefore, when the vehicle enters the parking space according to the parking path, the vibration generated during the vehicle driving process can be reduced, which has the effect of further improving driving comfort.

[0023] The automatic driving assistance system of the present invention may further include a path generation module electrically connected to the processor module, the path generation module generates partial track coordinates closer to the vehicle through the detection capability of the correction module, and enables the vehicle to automatically search for the parking space, so as to form the parking path according to the multiple track coordinates generated during the vehicle search process. Therefore, it has the function of adaptive walking. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 The system block diagram of a conventional fully automatic parking path determination device is shown in FIG.

[0025] Figure 2 FIG. 4 is a system block diagram of a preferred embodiment of the present invention.

[0026] Figure 3 This is a diagram of a usage scenario of a preferred embodiment of the present invention.

[0027] [Description of Reference Numerals]

[0028] 1: Positioning unit

[0029] 2: Calibration module

[0030] 3: Processor module

[0031] 31: Wireless transmission unit

[0032] 4: Dynamic estimation module

[0033] 41: Displacement sensing unit

[0034] 42: Yaw angle sensing unit

[0035] 5: Path generation module

[0036] C: Vehicle

[0037] D: Database

[0038] E: End point coordinates

[0039] L: Positioning reference

[0040] O: Starting point coordinates

[0041] P: Parking space

[0042] S: Cloud Server

[0043] 9: Fully automatic parking path determination device

[0044] 91: Parking space module

[0045] 92: First judgment module

[0046] 93: Second judgment module

[0047] 94: The third judgment module

[0048] 95: Path Module

[0049] 96: Control Module

[0050] 97: Positioning unit DETAILED DESCRIPTION

[0051] In order to make the above and other purposes, features and advantages of the present invention more clearly understood, the preferred embodiments of the present invention are specifically described below in detail with reference to the accompanying drawings:

[0052] Please refer to Figure 2 As shown, it is a preferred embodiment of the automatic driving assistance system of the present invention, which includes a positioning unit 1, a correction module 2 and a processor module 3. The positioning unit 1 and the correction module 2 are provided in a vehicle C and are electrically connected to the processor module 3.

[0053] The positioning unit 1 is used to locate the position of the vehicle C to generate a vehicle body coordinate. In the present embodiment, the positioning unit 1 can be set at the rear axle center of the vehicle C and can be a real-time dynamic global positioning system (RTK-GPS), a global satellite navigation system (GLONASS) or a Beidou satellite navigation system (COMPASS); alternatively, the positioning unit 1 can also generate the vehicle body coordinate by calculating the tire rolling displacement value of the vehicle C in a local area using a positioning algorithm, but is not limited to this.

[0054] The calibration module 2 is used to obtain one or more reference distances and reference angles between the vehicle C and a positioning reference object L. The positioning reference object L is used to calibrate the body coordinates of the vehicle C. The calibration module 2 can calculate the reference distance and the reference angle to obtain a calibration parameter between the vehicle C and the positioning reference object L. Preferably, the calibration parameter can be a shortest distance. In this embodiment, the calibration module 2 can include at least one of an ultrasonic unit and an image capture unit.

[0055] The processor module 3 is electrically connected to the positioning unit 1 and the calibration module 2. The processor module 3 can use a Raspberry Pi 3 / 4 as a control platform, but is not limited thereto. When the processor module 3 receives a parking signal, it controls the positioning unit 1 and the calibration module 2 to start and receive a parking path. The parking path is composed of a plurality of track coordinates including a starting point coordinate O and an end point coordinate E. Each of the track coordinates has a relative distance and a relative angle with the positioning reference object L. Specifically, the processor module 3 can be coupled to a cloud server S through a wireless transmission unit 31, and the cloud server S can download the parking path and the relative distances and relative angles of each track coordinate with the positioning reference object L; or, the parking path and the plurality of relative distances and relative angles can be pre-stored in a database D electrically connected to the processor module 3, so that the processor module 3 can obtain the parking path and the plurality of relative distances and relative angles from the database D. In this embodiment, the multiple trajectory coordinates of the parking path can be described by the object concept of object-oriented programming (OOP), and the multiple trajectory coordinates are stored in the cloud server S or the database D; in addition, the wireless transmission unit 31 can be a wireless transmission module such as 4G, 5G, WiFi, ZigBee, LoRa, Sigfox, NB-IoT or Bluetooth, but is not limited thereto.

[0056] When the processor module 3 starts to control the vehicle C to stop at a parking space P along the parking path, that is, before the vehicle C moves along the multiple trajectory coordinates, it can first calculate the distance between the vehicle body coordinates and each of the trajectory coordinates, and use the trajectory coordinate closest to the vehicle body coordinates as the starting point coordinate O of the parking path. The processor module 3 calculates a direction angle and a distance value of the vehicle body coordinate relative to the starting point coordinate O, and sends a movement signal including the direction angle and the distance value to an on-board computer (Electronic Control Unit, ECU) of the vehicle C, so that the on-board computer controls the vehicle C to move to the starting point coordinate O according to the direction angle and the distance value. Among them, the processor module 3 and the on-board computer can be centralized, distributed, or a combination of the above two. The automatic driving technology of the on-board computer controlling the movement of the vehicle is understandable to those with ordinary knowledge in the technical field to which the present invention belongs, and will not be elaborated here.

[0057] The processor module 3 analyzes whether the vehicle body coordinates are the same as the end point coordinates E to confirm whether the vehicle C is located in the parking space P. If the analysis result is yes, it means that the vehicle C is already in the parking space P; if the analysis result is no, a track coordinate closest to the vehicle body coordinates is obtained from the multiple track coordinates, and the track coordinate is located between the vehicle C and the parking space P; or at least two consecutive track coordinates closest to the vehicle body coordinates are obtained from the multiple track coordinates, and the at least two track coordinates are located between the vehicle C and the parking space P. The processor module 3 sends a movement signal to the vehicle computer of the vehicle C, so that the vehicle computer controls the vehicle C to move until the vehicle body coordinates detected by the positioning unit 1 are the same as the track coordinates. The processor module 3 calculates the reference distance and reference angle detected by the calibration module 2 to obtain a calibration parameter, and calculates the difference between the calibration parameter and an actual value calculated by the relative distance and relative angle corresponding to the trajectory coordinates. If the difference is not equal to zero, the processor module 3 sends a motion compensation signal to the on-board computer, so that the on-board computer controls the vehicle C to perform motion compensation according to the difference. In addition, when the vehicle C has been parked in the parking space P, the processor module 3 can control the positioning unit 1 and the calibration module 2 to stop operating.

[0058] The automatic driving assistance system of the present invention may also have an automatic car-calling function. Specifically, when the processor module 3 receives a car-calling signal, it controls the positioning unit 1 and the correction module 2 to start, and confirms whether the vehicle body coordinates are the same as the starting point coordinates O, so as to confirm whether the vehicle C has moved from the parking space P to the side of the driver of the vehicle C. If the confirmation result is yes, it means that the vehicle C is already next to the driver; if the confirmation result is no, a trajectory coordinate closest to the vehicle body coordinate is obtained from the multiple trajectory coordinates, and the trajectory coordinate is located between the end point coordinate E and the starting point coordinate O.

[0059] The processor module 3 sends a movement signal to the onboard computer, so that the onboard computer controls the vehicle C to move until the body coordinates detected by the positioning unit 1 are the same as the track coordinates. Preferably, the processor module 3 can control the calibration module 2 to start, so as to calculate the calibration parameters between the vehicle C and the positioning reference object L, and calculate the difference between the calibration parameters and the actual values ​​corresponding to the track coordinates. If the difference is not equal to zero, the processor module 3 sends a movement compensation signal to the onboard computer, so that the onboard computer controls the vehicle C to perform movement compensation according to the difference.

[0060] It is worth mentioning that when the automatic driving assistance system of the present invention performs the automatic car-hailing function, the parking position of the vehicle C is not limited to the parking space P, but can be located anywhere such as the side of a general road. At this time, the driver can send a fixed-point coordinate to the cloud server S through a mobile device such as a mobile phone. The cloud server S generates a moving path based on the fixed-point coordinate and the location of the vehicle C, and sends the moving path to the processor module 3, so that the processor module 3 sends a moving signal to the on-board computer, so that the on-board computer controls the vehicle C to move to the driver's side according to the moving path.

[0061] The automatic driving assistance system of the present invention may also have a dynamic estimation module 4 electrically connected to the processor module 3. The processor module 3 can determine whether an error is generated in the process of the vehicle C moving to the trajectory coordinates through the dynamic estimation module 4. If the judgment result is no, no additional action is required; if the judgment result is yes, a movement compensation signal is sent to the on-board computer, so that the on-board computer controls the vehicle C to perform movement compensation according to the error.

[0062] Specifically, the dynamic estimation module 4 may have a displacement sensing unit 41 and a yaw angle sensing unit 42. The displacement sensing unit 41 is used to detect the displacement of the vehicle C when it moves to the track coordinates to obtain a current displacement change; the yaw angle sensing unit 42 is used to obtain a yaw angle change when the vehicle C moves to the track coordinates. When the vehicle C moves to the track coordinates, the processor module 3 may calculate a parameter value based on the current displacement change and the yaw angle change, and calculate the difference between the parameter value and a corresponding parameter preset value. If the difference is not equal to zero, a movement compensation signal is sent to the on-board computer, so that the on-board computer controls the vehicle to perform movement compensation based on the current displacement change and the yaw angle change of the track coordinates. The parameter value is used to determine whether an error occurs with the parameter preset value during the process of the vehicle C moving to the track coordinates. In this embodiment, the parameter value may be a wheel speed value or a tire rolling displacement value.

[0063] The automatic driving compensation system of the present invention may also have a path generation module 5 coupled to the processor module 3, and the path generation module 5 is used to generate the parking path and the moving path. Specifically, when the path generation module 5 is used to generate the parking path, it can collect an original parking path when multiple drivers park their vehicles C in the parking space P, and each of the original parking paths is composed of vehicle body coordinates detected and obtained by the positioning unit 1 of each vehicle C. The path generation module 5 uses the multiple original parking paths as input variables of a neural network model to generate the parking path. In this embodiment, the neural network model can learn a parking path from the multiple original parking paths, and the parking path is a driving path that allows the driver on the vehicle C to have the best driving comfort during the process of the vehicle C moving to the parking space P.

[0064] Preferably, the neural network model may have another input variable, and the other input variable may be a vibration acceleration value between any two adjacent vehicle body coordinates constituting the original parking path through a vibration accelerometer and a spectrum analyzer. The neural network model may be a single-input single-output model or a multi-input single-output model, which is understandable to those with ordinary knowledge in the present invention and will not be elaborated herein.

[0065] It is also explained that the path generation module 5 can also plan and generate partial trajectory coordinates closer to the vehicle C through the detection capability of the correction module 2, and enable the vehicle C to automatically search for the parking space P, so as to form the parking path according to the multiple trajectory coordinates generated during the search process of the vehicle C.

[0066] Please refer to FIG. 3 , when the driver wants to park the vehicle C in a parking space P in an indoor parking lot, the positioning reference object L can be a pillar in the indoor parking lot, and the calibration module 2 can be an ultrasonic unit. Specifically, when the processor module 3 receives a parking signal, it controls the positioning unit 1 and the calibration module 2 to start, and can obtain a parking path from the cloud server S or the database D, so that the vehicle C can move along the parking path to one of the parking spaces P in the indoor parking lot. The processor module 3 obtains the body coordinates of the vehicle C through the positioning unit 1, and analyzes whether the body coordinates are the same as the end point coordinates E to confirm whether the vehicle C has been parked in the parking space P. If the analysis result is no, a movement signal is sent to the on-board computer of the vehicle C, so that the on-board computer controls the vehicle C to move toward a trajectory coordinate closest to the body coordinates until the body coordinates detected by the positioning unit 1 are the same as the trajectory coordinates.

[0067] However, due to the influence of the accuracy of the positioning unit 1 itself, the body coordinates detected by the positioning unit 1 may have errors with the actual coordinates. Therefore, when the vehicle C moves to the track coordinates, the processor module 3 can transmit ultrasound to the pillar through the ultrasonic unit and receive the echo of the ultrasound to obtain the reference distance and reference angle between the vehicle C and the pillar, and calibrate the body coordinates of the vehicle C accordingly. The processor module 3 can obtain the relative distance and relative angle between each track coordinate and the pillar from the cloud server S or the database D, and calculate the difference between the calibration parameter and the actual value when the vehicle C is located at the track coordinates. If the difference is not equal to zero, the processor module 3 sends a motion compensation signal to the on-board computer, so that the on-board computer controls the vehicle C to perform motion compensation according to the difference.

[0068] On the other hand, when the calibration module 2 is an image capture unit, the positioning reference object L can be the grid lines and parking space numbers of the parking spaces in the indoor parking lot. Specifically, when the vehicle C moves to the trajectory coordinates, the processor module 3 can shoot the grid lines and parking space numbers through the image capture unit to generate a parking space image. The processor module 3 obtains the reference distance and reference angle between the vehicle C and the grid lines from the parking space image based on the image processing technology, and can obtain the relative distance and relative angle between each of the trajectory coordinates and the grid lines of the parking space number from the cloud server S or the database D, and calculates the difference between the calibration parameters and the actual values ​​when the vehicle C is located at the trajectory coordinates. If the difference is not equal to zero, the processor module 3 can send a motion compensation signal to the on-board computer, so that the on-board computer controls the vehicle C to perform motion compensation based on the difference.

[0069] Those with ordinary knowledge in the present invention can understand that when the positioning reference object L is a pillar in the indoor parking lot, and the grid lines and parking space numbers of the parking space, the calibration module 2 can have an ultrasonic unit and an image capture unit at the same time. The processor module 3 can first emit ultrasound through the ultrasonic unit to try whether it can detect the existence of the pillar. If the ultrasonic unit does not detect the pillar, the processor module 3 can switch the ultrasonic unit to the image capture unit and use the image capture unit to shoot the grid lines and parking space numbers of the parking space to calculate the difference between the calibration parameters and the actual values ​​when the vehicle is located at the trajectory coordinates. Conversely, the processor module 3 can also first try whether it can shoot the grid lines and parking space numbers of the parking space through the image capture unit, and when shooting fails, it will instead emit ultrasound through the ultrasonic unit to detect and obtain the reference distance and reference angle between the pillar and the vehicle C. In the present embodiment, the ultrasound unit and the image capture unit can be operated independently, switched, sequentially or synchronously, which is understandable to those having ordinary knowledge in the relevant field of the present invention.

[0070] In summary, the automatic driving assistance system of the present invention can subdivide the parking path into multiple trajectory coordinates through a few hardware devices and simple computer processing operations, and make the vehicle only need to move to the next trajectory coordinate in each movement process. Moreover, when the body coordinates detected by the positioning unit are the same as the trajectory coordinates, the processor module obtains the reference distance and reference angle between the vehicle and the positioning reference object through the correction module to obtain the correction parameter, and calculates the difference between the correction parameter and the actual value calculated by the relative distance and relative angle corresponding to the trajectory coordinates, and when the difference is not equal to zero, the on-board computer controls the vehicle to perform movement compensation according to the difference. In this way, the automatic driving assistance system of the present invention has the functions of simplifying hardware costs, reducing computer computing performance requirements, completing path planning in a guided manner through the multiple trajectory coordinates, and improving the coordinate accuracy of the positioning unit through the correction module.

Claims

1. An automatic driving assistance system, characterized in that: include: A positioning unit is provided on a vehicle, and is used to locate the position of the vehicle to generate a vehicle body coordinate; a calibration module, arranged on the vehicle, for obtaining a reference distance and a reference angle between the vehicle and a positioning reference object; and A processor module is electrically connected to the positioning unit and the correction module. When the processor module receives a parking signal, it controls the positioning unit and the correction module to start and receive a parking path. The parking path is composed of a plurality of trajectory coordinates including an end point coordinate. There is a relative distance and a relative angle between each of the trajectory coordinates and the positioning reference object. The processor module analyzes whether the vehicle body coordinates are the same as the end point coordinates to confirm whether the vehicle is located in the parking space. If the analysis result is no, a trajectory coordinate closest to the vehicle body coordinate is obtained from the plurality of trajectory coordinates, and the trajectory coordinate position is Between the vehicle and the parking space, the processor module sends a movement signal to an on-board computer of the vehicle, so that the on-board computer controls the movement of the vehicle until the body coordinates detected by the positioning unit are the same as the track coordinates. The processor module calculates the reference distance and reference angle detected by the correction module to obtain a correction parameter, and calculates the difference between the correction parameter and an actual value calculated by the relative distance and relative angle corresponding to the track coordinates. If the difference is not equal to zero, a movement compensation signal is sent to the on-board computer, so that the on-board computer controls the vehicle to perform movement compensation based on the difference.

2. The automatic driving assistance system according to claim 1, characterized in that: The plurality of trajectory coordinates include a starting point coordinate. Before the vehicle moves along the plurality of trajectory coordinates, the processor module calculates the distance between the vehicle body coordinate and each of the trajectory coordinates, and uses a trajectory coordinate closest to the vehicle body coordinate as the starting point coordinate. The processor module calculates a direction angle and a distance value of the vehicle body coordinate relative to the starting point coordinate, and sends a movement signal including the direction angle and the distance value to the on-board computer, so that the on-board computer controls the vehicle to move to the starting point coordinate according to the direction angle and the distance value.

3. The automatic driving assistance system according to claim 1, characterized in that: The multiple trajectory coordinates include a starting point coordinate. When the processor module receives a car-calling signal, it controls the positioning unit and the correction module to start and confirm whether the vehicle body coordinates are the same as the starting point coordinates to confirm whether the vehicle moves from the parking space to the driver's side of the vehicle. If the confirmation result is no, a trajectory coordinate closest to the vehicle body coordinate is obtained from the multiple trajectory coordinates, and the trajectory coordinate is located between the end point coordinate and the starting point coordinate. The processor module sends a movement signal to the on-board computer, so that the on-board computer controls the movement of the vehicle until the vehicle body coordinates detected by the positioning unit are the same as the trajectory coordinates.

4. The automatic driving assistance system according to claim 1, characterized in that: When the parking space is located in an indoor parking lot, the positioning reference is a pillar located in the indoor parking lot, and the calibration module is an ultrasonic unit. When the vehicle moves to the trajectory coordinate, the processor module transmits ultrasound toward the pillar through the ultrasonic unit and receives the echo of the ultrasound to obtain a reference distance and a reference angle between the vehicle and the pillar.

5. The automatic driving assistance system according to claim 1, characterized in that: When the parking space is located in an indoor parking lot, the positioning reference is the grid lines and parking space numbers of the parking spaces in the indoor parking lot, and the correction module is an image capture unit. When the vehicle moves to the trajectory coordinates, the processor module shoots the grid lines and parking space numbers through the image capture unit to generate a parking space image. The processor module obtains the reference distance and reference angle between the vehicle and the grid lines from the parking space image based on image processing technology.

6. The automatic driving assistance system as described in any one of claims 1 to 5 further includes a dynamic estimation module electrically connected to the processor module, and has a displacement sensing unit and a yaw angle sensing unit, the displacement sensing unit and the yaw angle sensing unit are respectively used to detect the displacement and yaw angle of the vehicle moving to the trajectory coordinate to obtain a current displacement change and a yaw angle change. When the vehicle moves to the trajectory coordinate, the processor module calculates a parameter value based on the current displacement change and the yaw angle change, and calculates the difference between the parameter value and a corresponding parameter preset value. If the difference is not equal to zero, a movement compensation signal is sent to the on-board computer, so that the on-board computer controls the vehicle to perform movement compensation based on the current displacement change and the yaw angle change of the trajectory coordinate.

7. The automatic driving assistance system as claimed in any one of claims 1 to 5, further comprising a path generation module electrically connected to the processor module, the path generation module collecting an original parking path when multiple drivers park their vehicles in the parking space, each of the original parking paths being composed of vehicle body coordinates detected by a positioning unit of each of the vehicles, the path generation module using the multiple original parking paths as input variables of a neural network-like model to generate the parking path, the parking path being a driving path that enables the driver on the vehicle to have the best driving comfort during the process of the vehicle moving to the parking space.

8. The automatic driving assistance system according to claim 7, characterized in that: The neural network model has another input variable, which is obtained by using a vibration accelerometer and a spectrum analyzer to obtain a vibration acceleration value between any two adjacent vehicle body coordinates constituting the original parking path.

9. The automatic driving assistance system as described in any one of claims 1 to 5 further includes a path generation module electrically connected to the processor module, the path generation module plans to generate partial trajectory coordinates closer to the vehicle through the detection capability of the correction module, and enables the vehicle to automatically search for the parking space to form the parking path according to multiple trajectory coordinates generated during the vehicle search process.

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