Method, apparatus, electronic device and vehicle for assisting parking

Abstract

The present disclosure relates to a method, device, electronic device and vehicle for assisting parking, the method comprising: obtaining vehicle parameter information of a vehicle to be parked and parking space information of a target parking space to be parked into; calculating a parking motion trajectory according to the vehicle parameter information; determining a parking assistance line according to the parking motion trajectory and the parking space information; and generating parking guide information according to the parking assistance line, the parking guide information being used to guide a user to park the vehicle to be parked into the target parking space, thereby greatly improving the accuracy of the assisted parking, reducing the difficulty of parking into the parking space, saving time and improving the user experience.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to the field of assisting parking, in particular, to a method, device, electronic equipment and vehicle for assisting parking. BACKGROUND

[0002] As a necessary means of transportation in modern society, it is necessary to park reasonably. Parking into a position requires a high driving level of a user, and thus a method for assisting parking is needed. In the prior art, parking into a position mainly relies on experience and skills of a driver, and a high driving level of the driver is required. When the driver operates improperly or not in time, the vehicle cannot be accurately parked into a target parking space. SUMMARY

[0003] To solve the above problems, the present disclosure provides a method, device, electronic equipment and vehicle for assisting parking.

[0004] In a first aspect, the present disclosure provides a method for assisting parking, comprising: obtaining vehicle parameter information of a vehicle to be parked and parking space information of a target parking space to be parked into; calculating a parking motion trajectory according to the vehicle parameter information; determining a parking auxiliary line according to the parking motion trajectory and the parking space information; and generating parking guide information according to the parking auxiliary line, the parking guide information being used to guide a user to park the vehicle to be parked into the target parking space.

[0005] Optionally, the vehicle parameter information comprises wheel track, rear overhang length, wheelbase and steering wheel angle information of the vehicle; the parking motion trajectory comprises a ground motion trajectory of a first rear wheel and a ground motion trajectory of a second rear wheel; and the calculating the parking motion trajectory according to the vehicle parameter information comprises: establishing a ground two-dimensional coordinate system, determining a ground motion trajectory equation of a rear axle center according to the steering wheel angle, the wheelbase and the rear overhang length of the vehicle; and determining a ground motion trajectory equation of the first rear wheel and a ground motion trajectory equation of the second rear wheel of the vehicle according to the ground motion trajectory equation of the rear axle center and the wheel track.

[0006] Optionally, the determining the parking auxiliary line according to the parking motion trajectory and the parking space information comprises: selecting an arbitrary point on the ground as a target point, projecting the target point onto a display screen, obtaining a target projection point of the target point on the display screen, and determining a relationship between a ground coordinate of the target point in the ground two-dimensional coordinate system and a screen coordinate of the target projection point in a screen coordinate system; and generating the parking auxiliary line according to the screen motion trajectory equation of the first rear wheel, the screen motion trajectory equation of the second rear wheel and the parking space information.

[0007] Optionally, the parking auxiliary lines include a starting auxiliary line, a reversing auxiliary line, a straightening auxiliary line and a driving auxiliary line; the starting auxiliary line is used to determine a parking starting position of the vehicle relative to the target parking space; the reversing auxiliary line is used to determine a position before the vehicle starts to enter the target parking space; the straightening auxiliary line is used to determine a position at which the steering wheel of the vehicle is straightened during the process of entering the target parking space; and the driving auxiliary line is used to determine a position at which the vehicle starts to correct the body angle during the process of entering the target parking space.

[0008] Optionally, the parking guidance information includes a parking guidance video, and the method further includes: displaying the parking guidance video.

[0009] In a second aspect, the present disclosure provides a device for assisting parking, which includes: an acquisition module configured to acquire vehicle parameter information of a vehicle to be parked and parking space information of a target parking space to be parked into; a calculation module configured to calculate a parking motion trajectory according to the vehicle parameter information; a determination module configured to determine parking auxiliary lines according to the parking motion trajectory and the parking space information; and a generation module configured to generate parking guidance information according to the parking auxiliary lines, the parking guidance information being used to guide a user to park the vehicle to be parked into the target parking space.

[0010] Optionally, the vehicle parameter information includes wheel track, rear overhang length, wheelbase and steering wheel angle information of the vehicle; the parking motion trajectory includes a ground motion trajectory of a first rear wheel and a ground motion trajectory of a second rear wheel; and the calculation module is configured to establish a ground two-dimensional coordinate system, determine a ground motion trajectory equation of a rear axle center according to the steering wheel angle, the wheelbase and the rear overhang length of the vehicle, and determine a ground motion trajectory equation of the first rear wheel and a ground motion trajectory equation of the second rear wheel of the vehicle according to the ground motion trajectory equation of the rear axle center and the wheel track.

[0011] Optionally, the determination module is configured to select an arbitrary point on the ground as a target point, project the target point onto a display screen, acquire a target projection point of the target point on the display screen, and determine a relationship between a ground coordinate of the target point in the ground two-dimensional coordinate system and a screen coordinate of the target projection point in a screen coordinate system; and generate the parking auxiliary lines according to the screen motion trajectory equation of the first rear wheel, the screen motion trajectory equation of the second rear wheel and the parking space information.

[0012] Optionally, the parking auxiliary lines include a starting auxiliary line, a reversing auxiliary line, a straightening auxiliary line and a forward driving auxiliary line; the starting auxiliary line is used to determine a parking starting position of the vehicle relative to the target parking space; the reversing auxiliary line is used to determine a position before the vehicle starts to drive into the target parking space; the straightening auxiliary line is used to determine a position at which the steering wheel of the vehicle is straightened during the driving of the vehicle into the target parking space; and the forward driving auxiliary line is used to determine a position at which the vehicle starts to correct the body angle during the driving of the vehicle into the target parking space.

[0013] Optionally, the apparatus further includes a display module configured to display the parking guide video.

[0014] In a third aspect, the present disclosure provides an electronic device, including a memory having a computer program stored thereon, and a processor configured to execute the computer program in the memory, and perform the steps of any one of the above methods.

[0015] In a fourth aspect, the present disclosure provides a vehicle including the above electronic device.

[0016] By using the above technical solution, the minimum turning radius of the vehicle can be determined according to the vehicle parameter information, and the parking guide information can be generated according to the vehicle parameter information, the minimum turning radius and the target parking space information, so that the corresponding parking guide information can be generated according to different situations, and the parking prompt information can be generated according to the parking guide information, thereby greatly improving the accuracy of the assisted parking, reducing the difficulty of parking, saving time and improving the user experience.

[0017] Other features and advantages of the present disclosure will be described in detail in the following detailed description. BRIEF DESCRIPTION OF DRAWINGS

[0018] The accompanying drawings are included to provide a further understanding of the present disclosure and constitute a part of the specification, and are used together with the following detailed description to explain the present disclosure, but do not constitute a limitation of the present disclosure. In the drawings:

[0019] Figure 1 is a flowchart of a method of assisting parking according to an exemplary embodiment;

[0020] Figure 2 is a schematic diagram of parking auxiliary lines according to an exemplary embodiment;

[0021] Figure 3a is a parking guide schematic diagram according to an exemplary embodiment;

[0022] Figure 3b is a second parking guide schematic diagram according to an exemplary embodiment;

[0023] Figure 3c is a third parking guidance sketch according to an exemplary embodiment;

[0024] Figure 3d is a fourth parking guidance sketch according to an exemplary embodiment;

[0025] Figure 3e is a fifth parking guidance sketch according to an exemplary embodiment;

[0026] Figure 3f is a sixth parking guidance sketch according to an exemplary embodiment;

[0027] Figure 4 is a device block diagram of assisting parking according to an exemplary embodiment;

[0028] Figure 5 is another device block diagram of assisting parking according to an exemplary embodiment;

[0029] Figure 6 is a block diagram of an electronic device according to an exemplary embodiment;

[0030] Figure 7 is a block diagram of a vehicle according to an exemplary embodiment. DETAILED DESCRIPTION

[0031] The specific embodiments of the present disclosure will be described below in detail with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are merely intended to illustrate and explain the present disclosure, and are not intended to limit the present disclosure.

[0032] First, the application scenario of the present disclosure is described. The present disclosure can be applied to the scenario of assisting parking, in which accurate parking into position requires a higher driving level of the user, and thus assisting parking is needed.

[0033] In actual situations, different local parking spaces also have differences, and the parking methods also have differences. In the existing technology, in order to cope with different parking space situations, the method of assisting parking is relatively complex. When the driver operates improperly or not in time, it will not be able to accurately stop in the planned marked parking space, which greatly wastes the time and energy of the driver.

[0034] To solve the above problems, the present disclosure provides a method, device and vehicle for assisting parking, which can determine a minimum turning radius according to vehicle parameter information of a vehicle to be parked, and then determine parking guide information according to the vehicle parameter information, the minimum turning radius and a parking space condition, so as to greatly improve the accuracy of assisting parking, reduce the difficulty of parking, save time and improve user experience.

[0035] The present disclosure will be described in detail below with reference to specific embodiments.

[0036] Figure 1 A method for assisting parking provided by the present disclosure, as shown in the method comprises the following steps. Figure 1 The method comprises the following steps.

[0037] S101, obtaining vehicle parameter information of a vehicle to be parked and parking space information of a target parking space to be parked.

[0038] The vehicle parameter information includes wheel track, rear suspension length, wheelbase and steering wheel angle information of the vehicle, and the vehicle parameter information can be set in advance; the target parking space information includes sideline position information and top angle position information of the target parking space.

[0039] S102, calculating a parking motion trajectory according to the vehicle parameter information.

[0040] A ground two-dimensional coordinate system is established, and a ground motion trajectory equation of the rear axle center is determined according to the steering wheel angle, wheelbase and rear suspension length of the vehicle.

[0041] The ground two-dimensional coordinate system takes a point projected by a camera arranged at the rear of the vehicle to the ground as a coordinate origin, takes the positive rear of the vehicle as a y-axis positive direction, and takes the positive left of the vehicle as an x-axis positive direction; the steering wheel angle of the vehicle is an included angle between the front wheel of the vehicle and the y-axis, the wheelbase is a distance from the front axle center of the vehicle to the rear axle center, and the camera is used to shoot a scene behind the vehicle in a reversing assistance system and display on a display screen.

[0042] For example, in the ground two-dimensional coordinate system, the ground motion trajectory equation of the rear axle center is determined according to the steering wheel angle, wheelbase and rear suspension length of the vehicle, which comprises: establishing a ground two-dimensional coordinate system taking a point projected by a middle point of the rear of the vehicle to the ground as a coordinate origin, taking the positive rear of the vehicle as a y-axis positive direction, and taking the positive left of the vehicle as an x-axis positive direction; determining the ground motion trajectory equation of the rear axle center based on the following formula:

[0043] (x+R) 2 +(y+D) 2 =R 2 ;

[0044] Wherein, x is the horizontal coordinate of the rear axle center in the ground two-dimensional coordinate system, y is the vertical coordinate of the rear axle center in the ground two-dimensional coordinate system, D is the rear suspension length; R is the ground motion track radius of the rear axle center, L is the wheelbase, and Φ is the steering wheel angle of the vehicle.

[0045] When the steering wheel angle Φ of the vehicle is constant, the ground motion track equation of the rear axle center is the equation of a circle. The standard equation of the circle is (x-a) 2 +(y-b) 2 =R 2 , wherein the coordinate value of the center of the circle is (a, b). In the ground motion track equation of the rear axle center, the horizontal coordinate of the center of the circle is determined according to the relationship between the parameters Φ and L, the vertical coordinate of the center of the circle is determined according to the parameter D, the coordinate of the center of the circle is (-R, -D), and the radius of the circle is determined according to the parameters Φ and L, R=L / tanΦ+W / 2, wherein Φ can be perceived by the vehicle bus when the vehicle is deflected, so that the ground motion track radius of the rear axle center can be calculated, and the radius R is the minimum turning radius of the vehicle when the steering wheel angle Φ of the vehicle reaches the maximum value.

[0046] According to the ground motion track equation of the rear axle center and the wheelbase, the ground motion track equation of the first rear wheel of the vehicle and the ground motion track equation of the second rear wheel of the vehicle are determined.

[0047] The distance from the center of the first rear wheel of the vehicle to the rear axle center and the distance from the center of the second rear wheel of the vehicle to the rear axle center are equal to half of the rear wheelbase of the vehicle. The rear wheelbase refers to the distance between the center of the first rear wheel of the vehicle and the center of the second rear wheel. When the steering wheel angle of the vehicle is constant, the ground motion track equation of the rear axle center, the ground motion track equation of the first rear wheel of the vehicle and the ground motion track equation of the second rear wheel of the vehicle are three concentric circles in the ground two-dimensional coordinate system, so the ground motion track equations of the first rear wheel and the second rear wheel are also the equations of a circle.

[0048] In an embodiment of the present application, the ground motion track equation of the first rear wheel of the vehicle and the ground motion track equation of the second rear wheel of the vehicle are determined according to the ground motion track equation of the rear axle center and the rear wheelbase of the vehicle, comprising:

[0049] The ground motion track equation of the first rear wheel is determined based on the formula (x+R) 2 +(y+D) 2 =R1 2 , and the ground motion track equation of the second rear wheel is determined based on the formula (x+R) 2 +(y+D) 2 =R22.

[0050] D is the rear suspension length, R1 is the ground track radius of the first rear wheel of the vehicle when the steering wheel of the vehicle is turned right, R1=R-W / 2; R2 is the ground track radius of the second rear wheel of the vehicle, R2=R+W / 2; R1 is the ground track radius of the first rear wheel of the vehicle when the steering wheel of the vehicle is turned left, R1=R+W / 2, and R2 is the ground track radius of the second rear wheel of the vehicle, R2=R-W / 2, wherein W is the rear wheel track.

[0051] S103, determining a parking assistance line according to the parking motion track and the parking space information.

[0052] Optionally, an arbitrary point on the ground is selected as a target point, the target point is projected onto the display screen, a target projection point of the target point on the display screen is obtained, and a relationship between a ground coordinate of the target point in a two-dimensional ground coordinate system and a screen coordinate of the target projection point in a screen coordinate system is determined.

[0053] In the process of projecting the target point onto the display screen, the target point is first projected onto the imaging surface of the camera. Since the camera has a certain height and angle with the ground, the imaging surface of the camera intersects the ground, and any point on the imaging surface has a corresponding point on the ground. The mapping relationship between the target point and the first projection point on the imaging surface can be derived through the overhead angle of the camera, the height from the ground, and the stereoscopic geometric relationship. Then, the first projection point on the imaging surface is projected onto the display screen through the resolution conversion relationship to obtain the second projection point, wherein the second projection point coincides with the target projection point of the target point on the display screen.

[0054] The target point is projected onto the imaging surface of the camera, a first projection point of the target point on the imaging surface is obtained, and a relationship between the ground coordinates of the target point and the imaging surface coordinates of the first projection point is determined; the imaging surface coordinates of the first projection point are converted into camera resolution coordinates of the first projection point, and a relationship between the imaging surface coordinates of the first projection point and the camera resolution coordinates of the first projection point is determined; the first projection point is projected onto the display screen, a second projection point of the first projection point on the display screen is obtained, and a relationship between the camera resolution coordinates of the first projection point and the screen coordinates of the second projection point is determined; based on the relationship between the ground coordinates and the imaging surface coordinates, the relationship between the imaging surface coordinates and the camera resolution coordinates, and the relationship between the camera resolution coordinates and the screen coordinates, the relationship between the ground coordinates and the imaging surface coordinates is determined, and the screen motion trajectory equation of the first rear wheel and the screen motion trajectory equation of the second rear wheel are generated according to the relationship between the ground coordinates and the imaging surface coordinates.

[0055] A parking auxiliary line is generated according to the screen motion trajectory equation of the first rear wheel and the screen motion trajectory equation of the second rear wheel and the parking space information.

[0056] According to the above process, the screen motion trajectory equation of the first rear wheel and the screen motion trajectory equation of the second rear wheel are finally determined, and the curve of the screen motion trajectory equation of the first rear wheel and the screen motion trajectory equation of the second rear wheel in the display screen is the generated reverse parking auxiliary line. Wherein, as the steering wheel rotates, the steering wheel angle of the vehicle changes, the trajectory line of the ground also changes, the trajectory on the imaging surface of the corresponding camera also changes, and the curve on the display screen also changes, thereby realizing dynamic drawing of the reverse parking motion trajectory line. Then, the reverse parking motion trajectory line is planned according to the parking space information, so that the vehicle can be correctly parked in the target parking space. The parking space information includes the sideline position and the top angle position of the parking space. The reverse parking motion trajectory is planned according to the sideline position and the top angle position of the parking space, so that the reverse parking motion trajectory can avoid the top angle position of the parking space according to the specified parking standard, and the purpose of completing parking with the least number of steering wheel angle changes is achieved. The reverse parking motion trajectory is taken as the parking motion trajectory, the position of changing the steering wheel angle is taken as the important control point of parking operation, and the parking auxiliary line is marked at the important control point of parking operation according to the parking space information. The parking auxiliary line can be a virtual line coinciding with the sideline or the top angle of the parking space.

[0057] For example, as shown in Figure 2 , the parking auxiliary line can include a starting auxiliary line, a reverse parking auxiliary line, a back-to-normal auxiliary line, and a forward parking auxiliary line. The starting auxiliary line is used to determine the parking starting position of the vehicle relative to the target parking space. The starting position is used to represent the position at a predetermined distance from the parking space when the vehicle is parallel to the sideline of the parking space. The reverse parking auxiliary line is used to determine the position before the vehicle is ready to enter the target parking space. The position is used to represent the position of the steering wheel deflected to the target parking space. The back-to-normal auxiliary line is used to determine the position of the steering wheel of the vehicle back to normal during the process of entering the target parking space. The forward parking auxiliary line is used to determine the position of the steering wheel deflected to the opposite direction of the target parking space during the process of entering the target parking space. The vehicle starts to correct the body angle at this position.

[0058] S104, generating parking guide information according to the parking auxiliary line.

[0059] The parking guide information includes a parking guide video, and the parking guide video includes the parking motion trajectory, the parking auxiliary line, and the image of the parking space. The parking guide video is displayed through the vehicle-mounted display.

[0060] Taking the above auxiliary line as an example, the parking process can be as follows: Figure 3a When the vehicle to be parked approaches the target parking space to be parked, the starting auxiliary line is displayed to determine the starting position of the vehicle to be parked. When the starting auxiliary line coincides with the outer sideline of the target parking space, it is determined that the vehicle to be parked reaches the starting position. Figure 3bIn the parking guidance video, control the vehicle to move straight forward, and display the reversing guide line. When the reversing guide line coincides with the apex corner of the target parking space, determine that the vehicle has reached the key control point for reversing. Continue to control the vehicle's brakes, put the gear in reverse, and control the steering wheel to reach its maximum angle in the direction of the target parking space, controlling the vehicle to reverse. Figure 3c In the middle, the guideline for returning to center is displayed (the guideline for returning to center is...). Figure 3c The dotted line in the image (representing the centering of the vehicle) is used to determine the position of the vehicle's steering wheels when entering the target parking space. When the centering guide line coincides with the edge line of the target parking space, the vehicle is identified as having reached the crucial control point for steering wheel centering during parking. Following the parking guidance video instructions, the vehicle controls the steering wheels to center and then continues reversing. Figure 3d In the middle, the front guide lines are displayed (the front guide lines are...). Figure 3d The dotted line in the image (representing the center line) is used to determine the position where the vehicle begins to correct its body angle as it enters the target parking space. When the center line coincides with the edge line of the target parking space, it indicates the vehicle has reached a crucial control point for adjusting its body angle. Following the parking guidance video instructions, the steering wheel is controlled to reach its maximum angle in the opposite direction of the target parking space, and the vehicle continues reversing to adjust its body angle. Figure 3e In the process, when the vehicle is parallel to the edge line of the target parking space, control the steering wheel to return to center and shift the gear to forward; Figure 3f Adjust the vehicle to the center of the target parking space to complete the parking maneuver.

[0061] Using the above method, a coordinate system is established to determine the vehicle's reversing trajectory, which is then mapped onto the in-vehicle display. Based on the target parking space's information, this trajectory is planned to achieve the parking objective. This planned trajectory is used as the parking trajectory to determine key control points for changing the steering wheel angle during parking operations. When the vehicle is at these control points, auxiliary lines are determined based on the target parking space's information to generate parking guidance information. This significantly improves the accuracy of assisted parking, reduces the difficulty of parking, saves time, and enhances the user experience.

[0062] Figure 4 An auxiliary parking device provided in this disclosure embodiment, such as Figure 4 As shown, the device includes:

[0063] The acquisition module 401 is used to acquire vehicle parameter information of the vehicle to be parked and parking space information of the target parking space to be parked in.

[0064] The computing module 402 is configured to calculate a parking motion trajectory according to the vehicle parameter information;

[0065] The determining module 403 is configured to determine a parking auxiliary line according to the parking motion trajectory and the parking space information;

[0066] The generating module 404 is configured to generate parking guide information according to the parking auxiliary line, the parking guide information being used to guide a user to park the vehicle to be parked into the target parking space.

[0067] Optionally, the vehicle parameter information includes wheel track, rear overhang length, wheelbase and steering wheel angle information of the vehicle; the parking motion trajectory includes a ground motion trajectory of a first rear wheel and a ground motion trajectory of a second rear wheel; the computing module 402 is configured to establish a ground two-dimensional coordinate system, determine a ground motion trajectory equation of a rear axle center according to the steering wheel angle, the wheelbase and the rear overhang length of the vehicle, and determine a ground motion trajectory equation of the first rear wheel and a ground motion trajectory equation of the second rear wheel of the vehicle according to the ground motion trajectory equation of the rear axle center and the wheel track.

[0068] Optionally, the determining module 403 is configured to select an arbitrary point on the ground as a target point, project the target point onto a display screen, obtain a target projection point of the target point on the display screen, and determine a relationship between a ground coordinate of the target point in the ground two-dimensional coordinate system and a screen coordinate of the target projection point in a screen coordinate system; and generate the parking auxiliary line according to the screen motion trajectory equation of the first rear wheel, the screen motion trajectory equation of the second rear wheel and the parking space information.

[0069] Optionally, the parking auxiliary line includes a starting auxiliary line, a reversing auxiliary line, a straightening auxiliary line and a forward driving auxiliary line; the starting auxiliary line is used to determine a parking starting position of the vehicle relative to the target parking space; the reversing auxiliary line is used to determine a position before the vehicle starts to drive into the target parking space; the straightening auxiliary line is used to determine a position at which the steering wheel of the vehicle is straightened during the process of driving the vehicle into the target parking space; and the forward driving auxiliary line is used to determine a position at which the vehicle starts to correct the body angle during the process of driving the vehicle into the target parking space.

[0070] In addition, as shown in FIG. 5, the apparatus further includes a display module 505 configured to display the parking guide video. Figure 5 As to the apparatus in the above-mentioned embodiments, the specific manners in which various modules perform operations have been described in details in the embodiments of the method, and thus will not be described in details here.

[0071]

[0072] Figure 6 is a block diagram of an electronic device 600 according to an exemplary embodiment. As shown in FIG. 6, the electronic device 600 includes a processor 601, a memory 602 and a bus 603.​Figure 6 As shown, the electronic device 600 can include a processor 601, a memory 602. The electronic device 600 can further include one or more of an input / output (I / O) interface 603, and a communication component 605.

[0073] The processor 601 is configured to control overall operations of the electronic device 600 to complete all or part of the steps of the vehicle control method described above. The memory 602 is configured to store various types of data to support operations of the electronic device 600, which can include, for example, instructions for operating any application or method on the electronic device 600, and application-related data, such as location information, driver driving information, thermal management strategy information, and the like. The memory 602 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk, or optical disk. The I / O interface 603 provides an interface between the processor 601 and other interface modules, which can be a keyboard, a mouse, a button, and the like. The buttons can be virtual buttons or physical buttons. The communication component 604 is configured to perform wired or wireless communication between the electronic device 600 and other devices. The wireless communication, such as Wi-Fi, Bluetooth, near field communication (NFC), 2G, 3G, 4G, NB-IOT, eMTC, or other 5G, and the like, or a combination of one or more of them, is not limited herein. Therefore, the corresponding communication component 604 can include a Wi-Fi module, a Bluetooth module, an NFC module, and the like.

[0074] In an exemplary embodiment, the electronic device 600 can be implemented by one or more Application Specific Integrated Circuit (ASIC), Digital Signal Processor (DSP), Digital Signal Processing Device (DSPD), Programmable Logic Device (PLD), Field Programmable Gate Array (FPGA), controller, microcontroller, microprocessor, or other electronic elements for performing the above-mentioned method of vehicle control.

[0075] Figure 7 A vehicle 10 provided by the embodiments of the present disclosure, as shown in the accompanying drawings, comprises the electronic device 600 described above. Figure 7

[0076] The preferred embodiments of the present disclosure are described in detail above with reference to the accompanying drawings, but the present disclosure is not limited to the specific details in the above-described embodiments. Various simple modifications can be made to the technical solutions of the present disclosure within the scope of the technical concept of the present disclosure, and these simple modifications all belong to the protection scope of the present disclosure.

[0077] In addition, it should be noted that each specific technical feature described in the above specific embodiments can be combined in any appropriate manner without contradiction, and in order to avoid unnecessary repetition, the present disclosure will not further describe various possible combinations.

[0078] Furthermore, any combination of the various different embodiments of the present disclosure can also be made, as long as it does not deviate from the idea of the present disclosure, and it should also be considered as disclosed by the present disclosure.​

Claims

1. A method of assisting parking, characterized by, The method comprises: acquiring vehicle parameter information of a vehicle to be parked and parking space information of a target parking space to be parked into, the parking space information comprising a sideline position and a corner position of the target parking space; calculating a parking motion trajectory according to the vehicle parameter information, the parking motion trajectory being used to avoid the corner position and achieve the purpose of completing parking with the least number of times of changing the steering wheel angle of the vehicle to be parked into; determining a parking auxiliary line according to the parking motion trajectory and the parking space information, the parking auxiliary line comprising a virtual line coinciding with the sideline position or the corner position; generating parking guide information according to the parking auxiliary line, the parking guide information being used to guide a user to park the vehicle to be parked into the target parking space; the parking auxiliary line comprises a starting auxiliary line, a reverse auxiliary line, a back-to-normal auxiliary line and a forward auxiliary line; the starting auxiliary line is used to determine a parking starting position of the vehicle relative to the target parking space; the reverse auxiliary line is used to determine a position of the vehicle before the vehicle is ready to enter the target parking space; the back-to-normal auxiliary line is used to determine a position of the vehicle at which the steering wheel of the vehicle is back to normal during the process of the vehicle entering the target parking space; and the forward auxiliary line is used to determine a position of the vehicle at which the vehicle starts to correct the body angle during the process of the vehicle entering the target parking space; the vehicle parameter information comprises wheelbase, rear overhang length, wheel track and steering wheel angle information of the vehicle; and the parking motion trajectory comprises a ground motion trajectory of a first rear wheel and a ground motion trajectory of a second rear wheel; the calculating of the parking motion trajectory according to the vehicle parameter information comprises: establishing a ground two-dimensional coordinate system, and determining a ground motion trajectory equation of a rear axle center according to the steering wheel angle, the wheelbase and the rear overhang length of the vehicle; determining a ground motion trajectory equation of the first rear wheel and a ground motion trajectory equation of the second rear wheel of the vehicle according to the ground motion trajectory equation of the rear axle center and the wheel track; the determining of the parking auxiliary line according to the parking motion trajectory and the parking space information comprises: selecting an arbitrary point on the ground as a target point, projecting the target point onto a display screen, acquiring a target projection point of the target point on the display screen, and determining a relationship between a ground coordinate of the target point in the ground two-dimensional coordinate system and a screen coordinate of the target projection point in a screen coordinate system according to the relationship, and generating a screen motion trajectory equation of the first rear wheel and a screen motion trajectory equation of the second rear wheel according to the relationship; generating the parking auxiliary line according to the screen motion trajectory equation of the first rear wheel, the screen motion trajectory equation of the second rear wheel and the parking space information.

2. The method of claim 1, wherein, The parking guide information comprises a parking guide video, and the method further comprises: displaying the parking guide video.

3. An apparatus for assisting parking, characterized in that The device comprises: an acquisition module, configured to acquire vehicle parameter information of a vehicle to be parked and parking space information of a target parking space to be parked into, the parking space information comprising a sideline position and a corner position of the target parking space; The computing module is configured to calculate a parking motion trajectory according to the vehicle parameter information, the parking motion trajectory being used to avoid the vertex position and achieve the purpose of completing parking with the least number of times of changing the steering wheel angle of the vehicle to be parked. The determining module is configured to determine a parking auxiliary line according to the parking motion trajectory and the parking space information, the parking auxiliary line including a virtual line coinciding with the sideline position or the vertex position. The generating module is configured to generate parking guide information according to the parking auxiliary line, the parking guide information being used to guide a user to park the vehicle to be parked into the target parking space. The parking auxiliary line includes a starting auxiliary line, a reversing auxiliary line, a straightening auxiliary line and a straight driving auxiliary line; the starting auxiliary line is used to determine a parking start position of the vehicle relative to the target parking space; the reversing auxiliary line is used to determine a position of the vehicle before the vehicle is ready to drive into the target parking space; the straightening auxiliary line is used to determine a position of the vehicle at which the steering wheel of the vehicle is straightened during the driving of the vehicle into the target parking space; and the straight driving auxiliary line is used to determine a position of the vehicle at which the vehicle starts to correct the body angle during the driving of the vehicle into the target parking space. The vehicle parameter information includes rear overhang length, wheelbase and steering wheel angle information of the vehicle; the parking motion trajectory includes a ground motion trajectory of a first rear wheel and a ground motion trajectory of a second rear wheel; the computing module is configured to determine a ground motion trajectory equation of a rear axle center according to the steering wheel angle, the wheelbase and the rear overhang length of the vehicle in a ground two-dimensional coordinate system; and determine a ground motion trajectory equation of the first rear wheel and a ground motion trajectory equation of the second rear wheel according to the ground motion trajectory equation of the rear axle center, a distance from a first rear wheel center of the vehicle to the rear axle center and a distance from a second rear wheel center of the vehicle to the rear axle center. The determining module is configured to select an arbitrary point on the ground as a target point, project the target point onto a display screen, obtain a target projection point of the target point on the display screen, determine a relationship between a ground coordinate of the target point in the ground two-dimensional coordinate system and a screen coordinate of the target projection point in a screen coordinate system, generate a screen motion trajectory equation of the first rear wheel and a screen motion trajectory equation of the second rear wheel according to the relationship, and generate the parking auxiliary line according to the screen motion trajectory equation of the first rear wheel, the screen motion trajectory equation of the second rear wheel and the parking space information.

4. The apparatus of claim 3, wherein, The device further includes a display module configured to display a parking guide video.

5. An electronic device, comprising: The device includes: a memory having a computer program stored thereon; a processor configured to execute the computer program in the memory to implement the steps of the method in any one of claims 1-2.

6. A vehicle characterized by comprising: The vehicle includes the electronic device in claim 5. The device includes: a memory having a computer program stored thereon; a processor configured to execute the computer program in the memory to implement the steps of the method in any one of claims 1-2. The vehicle includes the electronic device in claim 5.

Images