System, Method, Vehicle and Storage Medium for Voice-Controlled Parking

Abstract

The present invention discloses a system, method, vehicle and storage medium for voice-controlled parking, including an in-vehicle microphone, an out-of-vehicle microphone module, a vehicle head unit, an out-of-vehicle voice offline module, an APA automatic parking module, a smart key and a domain controller; wherein, the in-vehicle microphone, the vehicle head unit and the APA automatic parking module form an in-vehicle voice parking control subsystem; the out-of-vehicle microphone module, the out-of-vehicle voice offline module, the vehicle head unit and the APA automatic parking module form an out-of-vehicle voice parking control subsystem; the in-vehicle microphone is arranged inside the vehicle and is connected to the vehicle head unit; the out-of-vehicle microphone module is arranged outside the vehicle; the domain controller is connected to the vehicle head unit; the out-of-vehicle voice offline module is respectively connected to the out-of-vehicle microphone module and the vehicle head unit; the APA automatic parking module is respectively connected to the vehicle head unit and a parking actuator. The present invention can enable a user to use voice to control the vehicle to park into or out of a parking space inside or outside the vehicle.

Description

Technical Field

[0001] The present invention belongs to the technical field of voice parking, and particularly relates to a system, method, vehicle and storage medium for voice-controlled parking. Background Art

[0002] In order to solve the problem of difficult parking in existing long and narrow parking spaces, there are currently mobile phone-controlled parking, intelligent key parking, and voice-controlled parking. The problem with mobile phone-controlled parking is that when using it, it is necessary to enter the car control interface of the app, input the car control password, and then control the parking process on the mobile phone. In addition, mobile phone-controlled parking is significantly affected by the environment. For example, when the sunlight is strong, it is difficult for users to see the mobile phone screen clearly, and it is even more inconvenient to perform a series of operations on the screen; in rainy days, it is inconvenient for users to use the mobile phone in an outdoor parking lot, and they have to worry about the mobile phone being drenched by rain. The intelligent key-controlled parking can only achieve the straight-in and straight-out of the vehicle, and the whole process requires manual control, and the button has to be pressed all the time. For example, when to stop and when to release the button. In addition, the traditional voice function is developed based on the conventional in-vehicle hardware, and its function can only be used after the in-vehicle computer is turned on, and the user has to wait for a long time. In addition, when the user is outside the vehicle, they cannot see the current operating state of the in-vehicle computer and cannot intuitively judge whether the in-vehicle computer has been turned on. The user outside the vehicle is not sure when the voice function can be used to control the vehicle, which will result in the user giving many commands outside the vehicle but the vehicle not responding, or waiting for a long time, and the actual experience of the user is very poor.

[0003] Therefore, it is necessary to develop a new system, method, vehicle and storage medium for voice-controlled parking. Summary of the Invention

[0004] The purpose of the present invention is to provide a system, method, vehicle and storage medium for voice-controlled parking, which can enable users to use voice to control the vehicle to park in or out of the parking space inside or outside the vehicle.

[0005] In a first aspect, a system for voice-controlled parking according to the present invention includes an in-vehicle microphone, an out-of-vehicle microphone module, an in-vehicle computer, an out-of-vehicle voice offline module, an APA automatic parking module, an intelligent key and a domain controller; wherein, the in-vehicle microphone, the in-vehicle computer and the APA automatic parking module form an in-vehicle voice parking control subsystem; the out-of-vehicle microphone module, the out-of-vehicle voice offline module, the in-vehicle computer and the APA automatic parking module form an out-of-vehicle voice parking control subsystem;

[0006] The in-vehicle microphone is arranged inside the vehicle and is used for receiving the sound information inside the vehicle and inputting it to the in-vehicle computer, and the in-vehicle microphone is connected to the in-vehicle computer;

[0007] The out-of-vehicle microphone module is arranged outside the vehicle and is used for receiving the sound information outside the vehicle;

[0008] The domain controller is used to detect the smart key, and determine the position of the smart key after detecting it. When the domain controller recognizes the smart key and the smart key is outside the vehicle, the external voice parking control subsystem is activated; when the domain controller recognizes the smart key and the smart key is inside the vehicle, the in-vehicle voice parking control subsystem is activated. The domain controller is connected to the vehicle head unit.

[0009] The external voice offline module is used to recognize the audio information input by the external microphone module and convert it into control instructions when the external voice parking control subsystem is activated and the vehicle head unit is in the sleep state, and send them to the APA automatic parking module through the MCU of the vehicle head unit. And when the external voice parking control subsystem is activated and the vehicle head unit is in the working state, directly send the audio information to the vehicle head unit, and the vehicle head unit recognizes the audio information and converts it into control instructions and then sends them to the APA automatic parking module. The external voice offline module is respectively connected to the external microphone module and the vehicle head unit.

[0010] The vehicle head unit is also used to recognize the audio information input by the in-vehicle microphone and convert it into control instructions when the in-vehicle voice parking control subsystem is activated and the vehicle head unit is in the working state, and send them to the APA automatic parking module through the MCU of the vehicle head unit.

[0011] The APA automatic parking module is used to control the parking actuator to perform automatic parking in or out operations when receiving the control instructions sent by the MCU of the vehicle head unit. The APA automatic parking module is respectively connected to the vehicle head unit and the parking actuator.

[0012] Optionally, it further includes an external voice amplification module connected to the external voice offline module, an external speaker connected to the external voice amplification module, an in-vehicle voice amplification module connected to the DSP of the vehicle head unit, and an in-vehicle speaker connected to the in-vehicle voice amplification module; the external speaker is installed outside the vehicle, and the in-vehicle speaker is installed inside the vehicle; the external voice parking subsystem broadcasts a prompt tone through the external speaker installed outside the vehicle; the in-vehicle voice parking control subsystem broadcasts a prompt tone through the in-vehicle speaker installed inside the vehicle, so that the user can understand the feedback of the system.

[0013] Optionally, the external voice offline module includes an offline recognition sub-module and an audio processing sub-module. The external microphone module is connected to the audio processing sub-module. The audio processing sub-module is respectively connected to the offline recognition sub-module and the DSP. The offline recognition sub-module is connected to the DSP of the vehicle head unit. The startup time of the external voice offline module is very fast, about 1 second, and it does not need to rely on the startup of the vehicle head unit. When the user brings the smart key close to the vehicle within a certain distance range, the vehicle can be controlled to park in or out of the parking space by external voice, without waiting for the vehicle head unit to boot up, and the response speed is very fast, providing a very good user experience.

[0014] Optionally, the external microphone module includes four microphones respectively arranged at the front, rear, left and right of the vehicle. Each microphone is respectively connected to the external voice offline module. Each microphone sends the collected sound information into the external voice offline module, and the external voice offline module selects the audio with the clearest sound from the received audio channels as the audio for recognition.

[0015] Optionally, the vehicle head unit is provided with a voiceprint recognition module. The voiceprint recognition module is used to recognize the audio information sent by the external microphone module or the in-vehicle microphone, and compare it with the stored voiceprint identity information. The vehicle head unit will convert the audio information into a control command and send it to the APA automatic parking module only when the identity of the sound emitter is recognized as an authorized user. This voiceprint recognition module is connected to the vehicle head unit. Only when the identity of the sound emitter is recognized as an authorized user, the control command is executed, which can ensure the safety of parking.

[0016] In a second aspect, a method for voice-controlled parking according to the present invention uses the voice-controlled parking system in this embodiment. Its control method includes the following steps:

[0017] External voice parking:

[0018] The domain controller detects the smart key. When the smart key is detected, the position of the smart key is judged.

[0019] When the domain controller detects the smart key and the smart key is outside the vehicle, the external voice parking control subsystem is activated. If the vehicle head unit has not completed booting, the external voice offline module recognizes the audio information input by the external microphone module, converts it into a control command and sends it to the MCU of the vehicle head unit. If the vehicle head unit has completed booting, the external voice offline module forwards the audio information sent by the external microphone module to the vehicle head unit. The vehicle head unit recognizes the audio information, converts it into a control command and sends it to the MCU of the vehicle head unit. The MCU of the vehicle head unit sends the control command to the APA automatic parking module, and the APA automatic parking module controls the parking actuator to perform the corresponding parking-in or parking-out operation based on the control command.

[0020] Internal voice parking:

[0021] The domain controller detects the smart key. When the smart key is detected, the position of the smart key is judged.

[0022] When the domain controller detects the smart key and the smart key is in the car, the in-car voice parking control subsystem is activated; if the car computer has not been turned on, the car computer does not process the audio information input by the microphone in the car; if the car computer has been turned on, the car computer analyzes and identifies the audio information input by the microphone in the car, and converts the audio information into control instructions and sends it to the MCU of the car computer; the MCU of the car computer sends the control instructions to the APA automatic parking module, and the APA automatic parking module controls the parking actuator based on the control instructions to automatically perform the corresponding parking in or out operations.

[0023] Optionally, the voice-controlled parking system further comprises an outside-vehicle sound amplification module connected to the outside-vehicle voice offline module, an outside-vehicle speaker connected to the outside-vehicle sound amplification module, an inside-vehicle sound amplification module connected to the DSP of the vehicle computer, and an inside-vehicle speaker connected to the inside-vehicle sound amplification module; the outside-vehicle speaker is installed outside the vehicle, and the inside-vehicle speaker is installed inside the vehicle;

[0024] After the off-vehicle voice parking subsystem is activated, a prompt tone is broadcast through an off-vehicle speaker;

[0025] After the in-vehicle voice parking control subsystem is activated, a prompt tone is broadcast through the in-vehicle speaker.

[0026] In this embodiment, the vehicle external microphone module includes four microphones respectively arranged at the front, rear, left and right sides of the vehicle, and each microphone is respectively connected to the vehicle external voice offline module;

[0027] When the off-board voice parking control subsystem is activated, each microphone of the off-board microphone module will collect sound information and send it to the off-board voice offline module respectively. The off-board voice offline module will select the clearest audio from the received audio channels as the audio for recognition.

[0028] Optionally, before the offline recognition submodule performs recognition and analysis on the audio, it performs noise reduction processing on the audio, and uses reference audio to subtract the original audio, and the obtained audio is regarded as the audio after noise reduction processing, wherein the reference audio comes from the sound of the external speaker and the internal speaker sent by the DSP.

[0029] Optionally, a voiceprint recognition module is provided on the vehicle computer;

[0030] The audio information sent by the external microphone module or the internal microphone is identified by the voiceprint recognition module installed on the vehicle computer and compared with the stored voiceprint identity information. When the vehicle computer recognizes that the voice sender is an authorized user, the audio information is converted into a control command and sent to the APA automatic parking module.

[0031] In a third aspect, a vehicle according to the present invention employs the voice-controlled parking system as described in the present invention.

[0032] In a fourth aspect, a storage medium according to the present invention stores a computer-readable program, and when the computer-readable program is called, it can execute the steps of the method for voice-controlled parking as described in the present invention.

[0033] The present invention has the following advantages:

[0034] 1. The present invention enables the vehicle to park in or out of a parking space by voice either outside or inside the vehicle, which is very convenient and solves the practical problem of difficult parking in and out due to narrow parking spaces. Moreover, it facilitates the user's use of the automatic parking function. Even if the user does not know how to use automatic parking, they can directly control it by voice.

[0035] 2. The present invention designs an off-vehicle voice offline module for the off-vehicle voice function. The software of this off-vehicle voice offline module runs independently and does not depend on the vehicle head unit system. Therefore, the startup time is very fast, about 1 second. When the user approaches the vehicle within a certain distance with the smart key, they can use the off-vehicle voice to control the vehicle to park in or out of the parking space without waiting for the vehicle head unit to boot up, and the response speed is very fast, providing a very good user experience.

[0036] 3. When the vehicle head unit is in the sleep state, the off-vehicle voice offline module recognizes the user's voice commands; when the vehicle head unit is in the powered-on and running state, the voice function software built into the vehicle head unit is used for recognition. The advantage of this method is that "offline" and "online" complement each other. When the vehicle head unit is in the sleep state, the off-vehicle voice offline module can quickly respond to the user's voice commands, but without network support for recognition, its recognition ability is not very high; when the vehicle head unit is in the powered-on and running state, the voice function software built into the vehicle head unit uses cloud resources through the network, and the recognition ability is very high.

[0037] 4. The voice-controlled parking system described in the present invention is integrated with voiceprint recognition technology. Only users authorized by voiceprint recognition can control the vehicle to park by voice, so the security level is very high. Description of the Drawings

[0038] Figure 1 is a block diagram of the voice-controlled parking system (including the parking execution mechanism) in this embodiment;

[0039] Figure 2 is a flowchart of an embodiment for voice-controlled parking in this embodiment;

[0040] Figure 3 is the audio logic diagram of this embodiment;

[0041] In the figure, 1 is an in-vehicle microphone, 2 is an out-of-vehicle microphone module, 3 is a vehicle head unit, 3a is a voiceprint recognition module, 3b is a DSP, 3c is an MCU, 4 is an out-of-vehicle voice offline module, 4a is an offline recognition sub-module, 4b is an audio processing sub-module, 5 is an APA automatic parking module, 6 is a smart key, 7 is a domain controller, 8 is a parking actuator, 9 is an out-of-vehicle speaker, 10 is an out-of-vehicle sound amplification module, 11 is an in-vehicle speaker, and 12 is an in-vehicle sound amplification module. Detailed implementation manners

[0042] The present invention will be described in detail below with reference to the accompanying drawings.

[0043] As Figure 1As shown in the figure, in this embodiment, a voice-controlled parking system includes an in-vehicle microphone 1, an out-of-vehicle microphone module 2, a car machine 3, an out-of-vehicle voice offline module 4, an APA automatic parking module 5, a smart key 6, and a domain controller 7. Among them, the in-vehicle microphone 1, the car machine 3, and the APA automatic parking module 5 form an in-vehicle voice parking control subsystem; the out-of-vehicle microphone module 2, the out-of-vehicle voice offline module 4, the car machine 3, and the APA automatic parking module 5 form an out-of-vehicle voice parking control subsystem. The in-vehicle microphone 1 is installed inside the vehicle and is used to receive the sound information inside the vehicle and input it to the car machine 3, and the in-vehicle microphone 1 is connected to the car machine 3. The out-of-vehicle microphone module 2 is installed outside the vehicle and is used to receive the sound information outside the vehicle. The domain controller 7 is used to detect the smart key 6 and determine the position of the smart key 6 after detecting the smart key 6. When the domain controller 7 recognizes the smart key 6 and the smart key 6 is outside the vehicle, the out-of-vehicle voice parking control subsystem is activated; when the domain controller 7 recognizes the smart key 6 and the smart key 6 is inside the vehicle, the in-vehicle voice parking control subsystem is activated, and the domain controller 7 is connected to the car machine 3. The out-of-vehicle voice offline module 4 is used to recognize and convert the audio information transmitted by the out-of-vehicle microphone module 2 into a control instruction and send it to the APA automatic parking module 5 through the MCU 3c of the car machine 3 when the out-of-vehicle voice parking control subsystem is activated and the car machine 3 is in a sleep state, and directly send the audio information to the car machine 3 when the out-of-vehicle voice parking control subsystem is activated and the car machine 3 is in a working state. The car machine 3 recognizes and converts the audio information into a control instruction and then sends it to the APA automatic parking module 5. The out-of-vehicle voice offline module 4 is respectively connected to the out-of-vehicle microphone module 2 and the car machine 3. The car machine 3 is also used to recognize and convert the audio information transmitted by the in-vehicle microphone 1 into a control instruction when the in-vehicle voice parking control subsystem is activated and the car machine 3 is in a working state, and send it to the APA automatic parking module 5 through the MCU 3c of the car machine 3. The APA automatic parking module 5 is used to control the parking actuator 8 to perform an automatic parking-in or parking-out operation when receiving the control instruction sent by the MCU 3c of the car machine 3, and the APA automatic parking module 5 is respectively connected to the car machine 3 and the parking actuator 8.

[0044] In this embodiment, the parking actuator 8 includes an engine EMS, a transmission TCU, an electric power steering ESP, and a braking system. This part belongs to the prior art and will not be elaborated here.

[0045] As Figure 3As shown in the figure, in this embodiment, a voice control parking system further includes an external vehicle sound amplification module 10 connected to the external vehicle voice offline module 4, an external vehicle speaker 9 connected to the external vehicle sound amplification module 10, an internal vehicle sound amplification module 12 connected to the DSP 3b of the vehicle machine 3, and an internal vehicle speaker 11 connected to the internal vehicle sound amplification module 12; the external vehicle speaker 9 is installed outside the vehicle, and the internal vehicle speaker 11 is installed inside the vehicle. After the external vehicle voice parking subsystem is activated, a prompt sound is broadcast through the external vehicle speaker 9. After the internal vehicle voice parking control subsystem is activated, a prompt sound is broadcast through the internal vehicle speaker 11.

[0046] As Figure 3 shown in the figure, in this embodiment, the external vehicle voice offline module 4 includes an offline recognition sub-module 4a and an audio processing sub-module 4b. The external vehicle microphone module 2 is connected to the audio processing sub-module 4b. The audio processing sub-module 4b is respectively connected to the offline recognition sub-module 4a and the DSP 3b, and the offline recognition sub-module 4a is connected to the DSP 3b of the vehicle machine 3.

[0047] As Figure 3 shown in the figure, in this embodiment, the external vehicle microphone module 2 includes four microphones respectively arranged at the front, rear, left and right of the vehicle. Each microphone is respectively connected to the audio processing sub-module 4b of the external vehicle voice offline module 4, and each microphone sends the collected sound information into the external vehicle voice offline module 4 respectively.

[0048] The startup time of the off-vehicle voice offline module 4 is fast, about 1 second or so, and users can hardly feel the waiting time when using it. The software of the off-vehicle voice offline module 4 runs independently and does not depend on the in-vehicle system. When the off-vehicle voice parking control subsystem is activated, after the off-vehicle voice offline module 4 starts up, it can directly use the MCU and DSP of the in-vehicle unit 3. When the in-vehicle unit 3 has not been powered on or is in the standby state, the audio collected by the off-vehicle microphone module 2 (including the microphone (CSK MIC1#) set in the front of the vehicle, the microphone (CSK MIC2#) set in the rear of the vehicle, the microphone (CSK MIC3#) set in the left of the vehicle, and the microphone (CSK MIC4#) set in the right of the vehicle) is sent to the off-vehicle voice offline module 4 for analysis, and the off-vehicle voice offline module 4 will select the audio with the clearest voice as the audio for recognition for recognition. In this embodiment, there are four microphones arranged outside the vehicle, which are respectively arranged in the front, rear, left, and right four directions of the vehicle. When the user uses voice to control the vehicle outside the vehicle, these four microphones may all collect audio, but because the positions of the microphones outside the vehicle are different, the clarity of the collected audio is also different, and clear audio can be better recognized by the voice recognition system. The recognized instruction is sent to the MCU of the in-vehicle unit 3, and the MCU then converts the instruction into a CAN bus instruction and sends it out. When the in-vehicle unit 3 is in the running state, the audio collected by the off-vehicle microphone module 2 is sent to the off-vehicle voice offline module 4 for analysis, and the off-vehicle voice offline module 4 will select the audio with the clearest voice as the audio for recognition and send it to the DSP of the in-vehicle unit 3, and then the DSP forwards this audio to the voice recognition system of the in-vehicle unit 3, which is recognized by the voice recognition system of the in-vehicle unit 3, and then the recognized instruction is sent to the MCU, and the MCU then converts the instruction into a CAN bus instruction and sends it out.

[0049] In this embodiment, when the off-vehicle voice offline module 4 performs recognition and analysis on the audio, noise reduction processing will be carried out. During the noise reduction processing, the original audio is subtracted by the reference audio, and the obtained audio is regarded as the audio after noise reduction processing and then used for recognition. Because when the user uses voice to control the vehicle outside the vehicle, if the in-vehicle and off-vehicle speakers are playing prompt sounds or music, the audio collected by the off-vehicle microphone may be mixed with the sounds emitted by the in-vehicle and off-vehicle speakers, and these sounds will affect the system's recognition of voice commands. After these sounds are eliminated, the voice commands can be better recognized. The reference audio comes from the off-vehicle speaker 9 (i.e., OR+OL) and the in-vehicle speaker sound 11 (i.e., FL+FR+RL+RR) sent by the DSP.

[0050] Such as Figure 1As shown, in this embodiment, the vehicle head unit 3 is provided with a voiceprint recognition module 3a. The voiceprint recognition module 3a is used to recognize the audio information sent by the external vehicle microphone module 2 or the in-vehicle microphone 1, and compare it with the stored voiceprint identity information. Only when the vehicle head unit 3 recognizes that the identity of the sound emitter is an authorized user, will it convert the audio information into a control command and send it to the APA automatic parking module 5. The voiceprint recognition module 3a is connected to the vehicle head unit 3.

[0051] As Figure 2 shown, in this embodiment, a method for voice-controlled parking uses the voice-controlled parking system in this embodiment. Its control method includes the following steps:

[0052] (1) External voice parking:

[0053] The domain controller 7 detects the smart key 6. When the smart key 6 is detected, the position of the smart key 6 is judged.

[0054] When the domain controller 7 detects the smart key 6 and the smart key 6 is outside the vehicle, the external voice parking control subsystem is activated. If the vehicle head unit 3 has not completed booting, the external voice offline module 4 recognizes the audio information transmitted by the external vehicle microphone module 2, converts it into a control command, and sends it to the MCU 3c of the vehicle head unit 3. If the vehicle head unit 3 has completed booting, the external voice offline module 4 forwards the audio information sent by the external vehicle microphone module 2 to the vehicle head unit 3. The vehicle head unit 3 recognizes the audio information, converts it into a control command, and sends it to the MCU 3c of the vehicle head unit 3. The MCU 3c of the vehicle head unit 3 sends the control command to the APA automatic parking module 5, and the APA automatic parking module 5 controls the parking actuator 8 to perform the corresponding parking in or out operation based on the control command.

[0055] (2) Internal voice parking:

[0056] The domain controller 7 detects the smart key 6. When the smart key 6 is detected, the position of the smart key 6 is judged.

[0057] When the domain controller 7 detects the smart key 6 and the smart key 6 is inside the vehicle, the internal voice parking control subsystem is activated. If the vehicle head unit 3 has not completed booting, the vehicle head unit 3 does not process the audio information input by the in-vehicle microphone 1. If the vehicle head unit 3 has completed booting, the vehicle head unit 3 analyzes and recognizes the audio information input by the in-vehicle microphone 1, converts the audio information into a control command, and sends it to the MCU 3c of the vehicle head unit 3. The MCU 3c of the vehicle head unit 3 sends the control command to the APA automatic parking module 5, and the APA automatic parking module 5 controls the parking actuator 8 to automatically perform the corresponding parking in or out operation based on the control command.

[0058] In this embodiment, the voice-controlled parking system is divided into an external voice parking subsystem and an internal voice parking control subsystem according to the actual usage scenarios of users. The applicable scenarios of the two are different, and the feedback and prompting methods for users are also different.

[0059] The external voice parking subsystem is applicable to the following scenarios:

[0060] When the vehicle is already in the parking space, but the parking space is relatively narrow and the driver's door is blocked by other vehicles, making it impossible or inconvenient for the user to open the door and get into the vehicle, the user can carry the smart key 6 outside the vehicle and control the vehicle to drive out automatically through the external voice parking subsystem outside the vehicle. In another situation, when the vehicle has not yet been parked in the parking space, but the parking space is relatively narrow, if the user parks the vehicle in the parking space and it is impossible or inconvenient for the user to open the door and get out of the vehicle, the user can carry the smart key 6 outside the vehicle and control the vehicle to drive into the parking space automatically through the external voice parking subsystem without worrying about not being able to get out.

[0061] The internal voice parking control subsystem is applicable to the following scenarios:

[0062] If the user doesn't know how to use the automatic parking function, they can directly control the vehicle to park in or out of the parking space through voice inside the vehicle.

[0063] When the user uses the external voice parking subsystem outside the vehicle, the external voice parking subsystem will play a prompt sound through the external speaker 9 installed outside the vehicle, and the user can hear it clearly outside the vehicle. When the user uses the internal voice parking control subsystem inside the vehicle, the internal voice parking control subsystem will play a prompt sound through the internal speaker 11 installed inside the vehicle, and the user can hear it clearly inside the vehicle.

[0064] Compared with the existing mobile phone-controlled parking, voice-controlled parking has the following obvious advantages:

[0065] Voice-controlled parking is simple and convenient. As long as the user carries the smart key and utters the parking command, it can be realized. For mobile phone-controlled parking, the user needs to enter the vehicle control interface of the app, input the vehicle control password, and then control the parking process on the mobile phone. In addition, mobile phone-controlled parking is significantly affected by the environment. For example, when the sunlight is strong, it is difficult for the user to see the mobile phone screen clearly, and it is even more inconvenient to perform a series of operations on the screen; in rainy days, it is inconvenient for the user to use the mobile phone in an outdoor parking lot and they have to worry about the mobile phone being wet by rain. In contrast, voice-controlled parking does not have the above problems.

[0066] The present invention only needs to send a parking-in or parking-out instruction to the APA automatic parking module by voice, and the APA automatic parking module combines the radar and camera of the automatic parking system to complete the calculation and control of parking. That is, it automatically selects a suitable parking space or the parking position after driving out according to the sensors and the parking controller, which is worry-free, convenient and very intelligent. Compared with the existing parking control by intelligent key, it has the advantage of simple operation.

[0067] The following is a detailed introduction to the out-of-vehicle voice parking subsystem:

[0068] The voice control parking system first detects the intelligent key 6 through the domain controller 7. After detecting the intelligent key 6, it then judges whether the intelligent key is inside or outside the vehicle. Only when the domain controller 7 detects the intelligent key 6 and the intelligent key 6 is outside the vehicle, the out-of-vehicle voice parking subsystem can start the working process. That is, the out-of-vehicle voice offline module 4 processes the audio sent by the out-of-vehicle microphone module 2.

[0069] When the domain controller 7 does not detect the intelligent key 6 or the intelligent key 6 is inside the vehicle, the out-of-vehicle voice parking function does not respond, that is, the out-of-vehicle voice offline module 4 does not process the audio sent by the out-of-vehicle microphone module 2. Even if a person outside the vehicle speaks a parking control instruction, the vehicle will not make any response.

[0070] When controlling the vehicle to park by voice, there is a certain risk in only detecting the intelligent key 6. For example, the user is inside or outside the vehicle with the intelligent key 6, but there are other people around. If other people speak parking-related instructions, the vehicle will execute parking-related actions. Therefore, a voiceprint recognition system is added to determine whether the instruction is issued by an authorized user.

[0071] When the intelligent key 6 is detected outside the vehicle, the audio collected by the out-of-vehicle microphone module 2 is sent to the out-of-vehicle voice offline module 4 and the voiceprint recognition system 3a at the same time.

[0072] If the vehicle head unit 3 has not completed booting, the out-of-vehicle voice offline module 4 analyzes and processes the audio sent by the out-of-vehicle microphone module 2. When the voiceprint recognition system 3a passes the authentication, that is, it is considered that the instruction is issued by an authorized user, the out-of-vehicle voice offline module 4 will convert the audio into a control instruction and send it to the MCU 3c of the vehicle head unit 3.

[0073] If the vehicle head unit 3 has completed booting, the out-of-vehicle voice offline module 4 forwards the audio sent by the out-of-vehicle microphone module 2 to the vehicle head unit 3, and the vehicle head unit 3 system analyzes and processes the audio. When the voiceprint recognition system 3a passes the authentication, that is, it is considered that the instruction is issued by an authorized user, the vehicle head unit 3 system will convert the audio into a control instruction and send it to the MCU of the vehicle head unit 3.

[0074] After the MCU of the in-vehicle computer 3 receives the instructions from the out-of-vehicle voice parking subsystem, it will send the relevant instructions to the APA automatic parking module 5. Then, the APA automatic parking module 5 combines the data collected by the radar and the camera to calculate the plan, and controls the parking actuator to operate according to the plan.

[0075] The following is a detailed introduction to the in-vehicle voice parking control subsystem:

[0076] The working process of the in-vehicle voice parking function is as follows: First, the domain controller 7 detects the smart key 6. When the smart key 6 is detected, it then determines whether the smart key 6 is inside or outside the vehicle. Only when the domain controller 7 detects the smart key 6 and it is inside the vehicle can the in-vehicle voice parking function start the working process.

[0077] When the smart key 6 is detected inside the vehicle, if the in-vehicle computer 3 has not completed booting, the vehicle does not respond. If the in-vehicle computer 3 has completed booting, the in-vehicle computer 3 analyzes and processes the audio. When the voiceprint recognition system 3a passes the authentication, it is considered that the instruction is issued by an authorized user. The in-vehicle computer 3 converts the audio into a control instruction, and then the MCU of the in-vehicle computer 3 sends the relevant instructions to the APA automatic parking module 5. Then, the APA automatic parking module 5 combines the data collected by the radar and the camera to calculate the plan, and controls the parking actuator 8 to operate according to the plan.

[0078] For example, when the user approaches the vehicle with the smart key 6 at a certain distance, the out-of-vehicle voice offline module 4 can only recognize the instruction according to the pre-designed statement, such as "I want to drive the car out". But as time goes by, after about 30 seconds, when the in-vehicle computer 3 is in the boot-up running state, the user can use more flexible statements to control the vehicle, such as "Drive the car out", "Help me move the car out of the parking space", etc.

[0079] In this embodiment, a vehicle adopts the voice control parking system as described in this embodiment.

[0080] In this embodiment, a storage medium stores a computer-readable program, and when the computer-readable program is called, it can execute the steps of the voice control parking method as described in this embodiment.

[0081] The above embodiments are preferred embodiments of the present invention, but the embodiments of the present invention are not limited to the above embodiments. Any other changes, modifications, substitutions, combinations, and simplifications made without departing from the spirit and principle of the present invention shall be equivalent replacement methods and are all included in the protection scope of the present invention.

Claims

1. A voice-controlled parking system, characterized in that: It includes an in-vehicle microphone (1), an out-of-vehicle microphone module (2), a vehicle head unit (3), an out-of-vehicle voice offline module (4), an APA automatic parking module (5), a smart key (6), and a domain controller (7); among them, the in-vehicle microphone (1), the vehicle head unit (3), and the APA automatic parking module (5) form an in-vehicle voice parking control subsystem; the out-of-vehicle microphone module (2), the out-of-vehicle voice offline module (4), the vehicle head unit (3), and the APA automatic parking module (5) form an out-of-vehicle voice parking control subsystem; The in-vehicle microphone (1) is arranged inside the vehicle and is used to receive the sound information inside the vehicle and input it to the vehicle head unit (3), and this in-vehicle microphone (1) is connected to the vehicle head unit (3); The out-of-vehicle microphone module (2) is arranged outside the vehicle and is used to receive the sound information outside the vehicle; The domain controller (7) is used to detect the smart key (6) and judge the position of the smart key (6) after detecting the smart key (6). When the domain controller (7) recognizes the smart key (6) and the smart key (6) is outside the vehicle, the out-of-vehicle voice parking control subsystem is activated; when the domain controller (7) recognizes the smart key (6) and the smart key (6) is inside the vehicle, the in-vehicle voice parking control subsystem is activated, and this domain controller (7) is connected to the vehicle head unit (3); The out-of-vehicle voice offline module (4) is used to recognize and convert the audio information transmitted by the out-of-vehicle microphone module (2) into control instructions when the out-of-vehicle voice parking control subsystem is activated and the vehicle head unit (3) is in the sleep state, and send them to the APA automatic parking module (5) through the MCU (3c) of the vehicle head unit (3), and when the out-of-vehicle voice parking control subsystem is activated and the vehicle head unit (3) is in the working state, directly send the audio information to the vehicle head unit (3), and the vehicle head unit (3) recognizes the audio information and converts it into control instructions and then sends them to the APA automatic parking module (5). This out-of-vehicle voice offline module (4) is respectively connected to the out-of-vehicle microphone module (2) and the vehicle head unit (3); The vehicle head unit (3) is also used to recognize and convert the audio information transmitted by the in-vehicle microphone (1) into control instructions when the in-vehicle voice parking control subsystem is activated and the vehicle head unit (3) is in the working state, and send them to the APA automatic parking module (5) through the MCU (3c) of the vehicle head unit (3); The APA automatic parking module (5) is used to control the parking actuator (8) to perform automatic parking in or out operations when receiving the control instructions sent by the MCU (3c) of the vehicle head unit (3), and this APA automatic parking module (5) is respectively connected to the vehicle head unit (3) and the parking actuator (8).

2. The voice-controlled parking system according to claim 1, wherein: It also includes an out-of-vehicle sound amplification module (10) connected to the out-of-vehicle voice offline module (4), an out-of-vehicle speaker (9) connected to the out-of-vehicle sound amplification module (10), an in-vehicle sound amplification module (12) connected to the DSP (3b) of the vehicle head unit (3), and an in-vehicle speaker (11) connected to the in-vehicle sound amplification module (12); the out-of-vehicle speaker (9) is installed outside the vehicle, and the in-vehicle speaker (11) is installed inside the vehicle; The external vehicle voice parking subsystem broadcasts a prompt tone through an external vehicle speaker (9); the internal vehicle voice parking control subsystem broadcasts a prompt tone through an internal vehicle speaker (11).

3. The voice-controlled parking system according to claim 1 or 2, characterized in that: The external vehicle voice offline module (4) includes an offline recognition sub-module (4a) and an audio processing sub-module (4b). The external vehicle microphone module (2) is connected to the audio processing sub-module (4b). The audio processing sub-module (4b) is respectively connected to the offline recognition sub-module (4a) and the DSP (3b), and the offline recognition sub-module (4a) is connected to the DSP (3b).

4. The voice control parking system according to claim 3, wherein: The external vehicle microphone module (2) includes four microphones respectively arranged at the front, rear, left, and right of the vehicle. Each microphone is respectively connected to the external vehicle voice offline module (4). Each microphone sends the collected sound information into the external vehicle voice offline module (4). The external vehicle voice offline module (4) selects the audio with the clearest sound from the received audio channels as the audio for recognition.

5. The voice-controlled parking system according to claim 1 or 2 or 4, characterized in that: The vehicle head unit (3) is provided with a voiceprint recognition module (3a). The voiceprint recognition module (3a) is used to recognize the audio information sent by the external vehicle microphone module (2) or the internal vehicle microphone (1), and compare it with the stored voiceprint identity information. The vehicle head unit (3) will convert the audio information into a control command and send it to the APA automatic parking module (5) only when the identity of the sound sender is recognized as an authorized user. The voiceprint recognition module (3a) is connected to the vehicle head unit (3).

6. A method for voice-controlled parking, characterized in that: Using the voice control parking system as described in claim 1, its control method includes the following steps: External vehicle voice parking: Detect the smart key (6) through the domain controller (7). After detecting the smart key (6), judge the position of the smart key (6); When the domain controller (7) detects the smart key (6) and the smart key (6) is outside the vehicle, the external vehicle voice parking control subsystem is activated. If the vehicle head unit (3) has not completed booting, the external vehicle voice offline module (4) recognizes the audio information transmitted by the external vehicle microphone module (2), and converts it into a control command and sends it to the MCU (3c) of the vehicle head unit (3). If the vehicle head unit (3) has completed booting, the external vehicle voice offline module (4) forwards the audio information sent by the external vehicle microphone module (2) to the vehicle head unit (3). The vehicle head unit (3) recognizes the audio information and converts it into a control command and sends it to the MCU (3c) of the vehicle head unit (3). The MCU (3c) of the vehicle head unit (3) sends the control command to the APA automatic parking module (5), and the APA automatic parking module (5) controls the parking actuator (8) to perform corresponding parking-in or parking-out operations based on the control command; Internal vehicle voice parking: Detect the smart key (6) through the domain controller (7). After detecting the smart key (6), judge the position of the smart key (6); When the domain controller (7) detects the smart key (6) and the smart key (6) is inside the vehicle, the in-vehicle voice parking control subsystem is activated; if the vehicle head unit (3) has not been turned on, the vehicle head unit (3) does not process the audio information input by the in-vehicle microphone (1); if the vehicle head unit (3) has been turned on, the vehicle head unit (3) analyzes and recognizes the audio information input by the in-vehicle microphone (1), converts the audio information into a control instruction and sends it to the MCU (3c) of the vehicle head unit (3); the MCU (3c) of the vehicle head unit (3) sends the control instruction to the APA automatic parking module (5), and the APA automatic parking module (5) controls the parking actuator (8) to automatically perform the corresponding parking-in or parking-out operation based on the control instruction.

7. The method for voice-controlled parking according to claim 6, characterized in that: The voice control parking system further includes an external sound amplification module (10) connected to the external voice offline module (4), an external speaker (9) connected to the external sound amplification module (10), an internal sound amplification module (12) connected to the DSP (3b) of the vehicle head unit (3), and an internal speaker (11) connected to the internal sound amplification module (12); the external speaker (9) is installed outside the vehicle, and the internal speaker (11) is installed inside the vehicle; After the external voice parking subsystem is activated, a prompt tone is broadcast through the external speaker (9); After the in-vehicle voice parking control subsystem is activated, a prompt tone is broadcast through the internal speaker (11).

8. The method for voice-controlled parking according to claim 7, wherein: The external microphone module (2) includes four microphones respectively arranged at the front, rear, left and right of the vehicle, and each microphone is respectively connected to the external voice offline module (4); The external voice offline module (4) includes an offline recognition sub-module (4a) and an audio processing sub-module (4b), the external microphone module (2) is connected to the audio processing sub-module (4b), the audio processing sub-module (4b) is respectively connected to the offline recognition sub-module (4a) and the DSP (3b), and the offline recognition sub-module (4a) is connected to the DSP (3b); When the external voice parking control subsystem is activated, each microphone of the external microphone module (2) sends the collected sound information into the external voice offline module (4), and the external voice offline module (4) selects the clearest audio from the received audio channels as the audio for recognition.

9. The method for voice-controlled parking according to claim 8, wherein: Before the offline recognition sub-module (4a) analyzes and recognizes the audio, noise reduction processing is performed on the audio, and the original audio is subtracted using the reference audio, and the obtained audio is regarded as the audio after noise reduction processing, where the reference audio comes from the sounds of the external speaker (9) and the internal speaker (11) sent by the DSP (3b).

10. The method for voice-controlled parking according to any one of claims 6 to 9, characterized in that: The vehicle head unit (3) is provided with a voiceprint recognition module (3a); The voiceprint recognition module (3a) provided on the vehicle head unit (3) recognizes the audio information sent by the external microphone module (2) or the in-vehicle microphone (1), and compares it with the stored voiceprint identity information. When the vehicle head unit (3) recognizes that the identity of the sound sender is an authorized user, the audio information is converted into a control instruction and sent to the APA automatic parking module (5).

11. A vehicle, characterized in that: Adopt the voice control parking system according to any one of claims 1 to 5.

12. A storage medium, characterized in that: It stores a computer-readable program, and when the computer-readable program is called, it can execute the steps of the voice control parking method according to any one of claims 6 to 10.

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