A parking assistance method and system

Abstract

The present application relates to a kind of parking assistance method and system, when detecting vehicle travels with reverse gear, start panoramic image function, in panoramic image, the area between car and side car is automatically divided into safe area, risk area and alarm area, when the central axis of car is located in safe area during reversing, first prompt color is displayed in panoramic image picture, when the central axis of car is located in risk area, second prompt color is displayed in panoramic image picture, when the central axis of car is located in alarm area, third prompt color is displayed in panoramic image and prompt sound is emitted.The parking assistance system does not always emit alarm sound during reversing, only when it is judged that the heading of car falls in alarm area, alarm sound is emitted, so that alarm sound can not be emitted during reversing, which can play a role of early warning prompt, and also does not disturb driver too much, improve reversing experience.

Description

Technical Field

[0001] This invention relates to the field of automatic parking technology, and more specifically to a parking assistance method and system. Background Technology

[0002] With the increasing popularity and intelligence of automobiles, driver assistance functions such as intelligent driving, active braking, and automatic parking are gradually becoming standard features in various models.

[0003] Automatic parking uses radar sensors around the vehicle to measure the distance and angle between the vehicle and surrounding objects. Then, the onboard computer calculates the operation process and coordinates the vehicle speed adjustment and steering wheel rotation to automatically park the vehicle. The entire process requires only a small amount of human intervention or even no human operation at all, which greatly increases the difficulty of parking and the driver's participation, bringing convenience to the driver.

[0004] For example, application number 201210137830.X discloses a parking device and method, which includes: a detection unit for detecting whether the surrounding environment of the car is suitable for parking and sending parking information to a data processing board; a data processing board for analyzing and processing the parking information, obtaining a parking instruction based on the analysis and processing results, and sending the parking instruction to an operation unit; and an operation unit for controlling the car to park according to the parking instruction; the detection unit, data processing board, and operation unit are connected in sequence. The parking device and method provided by this invention detect the surrounding environment of the car through the detection unit, process the car's parking information through the data processing board, and finally enable the operation unit to control the car to automatically avoid obstacles and drive into the parking space.

[0005] Existing automatic parking systems use rear radar to detect obstacles behind the vehicle during parking. If the distance between the rear of the vehicle and the obstacle is less than a preset distance when reversing, the system will emit a "beep" alarm sound, and the alarm sound will continue to be emitted during the subsequent reversing process.

[0006] In reality, during the reversing process, the rear of the car will approach various obstacles, such as adjacent vehicles, side building pillars, and side walls. Since the existing automatic parking system can reliably avoid these obstacles, it is not only unnecessary to issue alarm warnings for these obstacles during the automatic parking process, but also the frequent alarms (especially when multiple steering wheel turns are required to enter the parking space) will cause noise interference to the driver and passengers in the car, affecting the reversing experience, and needs to be improved. Summary of the Invention

[0007] Based on the above description, the present invention provides a parking assistance method and system to solve the problem that existing parking systems emit too many sound prompts during the parking process, which affects the reversing experience.

[0008] The technical solution of the present invention to solve the above-mentioned technical problems is as follows:

[0009] A parking assistance method involves activating a panoramic imaging function when a vehicle is detected moving in reverse gear. The method identifies parking spaces and vehicles within the panoramic image, delineates parking spaces on the panoramic image based on the identification results, and models the vehicle and adjacent vehicles. When vehicles are present in both left and right parking spaces adjacent to the target parking space in the panoramic image, the panoramic image is processed to obtain the center point O of the vehicle model. A first extension line is drawn from the center point O in the panoramic image, tangent to the rear surround arc surfaces of the left and right adjacent vehicle models, with an angle α between the two first extension lines. A second extension line is drawn from the center point O, intersecting the middle of the side surfaces of the left and right adjacent vehicles, with an angle β between the two second extension lines. A third extension line is drawn from the center point O... The long line intersects with the corners of the front bumpers of the left and right adjacent vehicles, and the angle between the two third extended lines is γ. The fan-shaped area covered by the included angle α is defined as the safe zone, the area within the fan-shaped area covered by the included angle β but outside the fan-shaped area covered by the included angle α is defined as the risk zone, and the area within the fan-shaped area covered by the included angle γ but outside the fan-shaped area covered by the included angle β is defined as the alarm zone. During reversing, when the centerline of the vehicle is in the safe zone, a first warning color is displayed in the panoramic image; when the centerline of the vehicle is in the risk zone, a second warning color is displayed in the panoramic image; and when the centerline of the vehicle is in the alarm zone, a third warning color is displayed in the panoramic image and a warning sound is emitted.

[0010] As a preferred solution: different safe distance values ​​are set for different warning areas. During the reversing process, it is determined which warning area the vehicle's heading falls into, and then the safe distance value corresponding to the current warning area is retrieved. The distance Sh between the rear of the vehicle and the adjacent vehicle is detected in real time, and the detected distance Sh is compared with the retrieved safe distance value. When the distance Sh between the rear of the vehicle and the adjacent vehicle is less than the safe distance value, an audible warning is issued to the driver.

[0011] As a preferred solution: several sets of reversing speed ranges are preset, and an adjustment coefficient k is calibrated for each set of speed ranges; the vehicle speed is detected in real time during reversing, and the detected speed is compared with the several sets of preset speed ranges to determine which speed range the current speed belongs to, and the adjustment coefficient k corresponding to that speed range is retrieved; the included angles α and β are calculated with the adjustment coefficient k respectively to obtain the corrected adjustment angle, and the various prompt areas are redivided with the adjusted angle.

[0012] As a preferred approach: A pre-established correspondence between reversing proficiency and the frequency of audible prompts is established; when the driver is detected reversing, the driver's operational data is collected, including the number of times the driver turns the steering wheel, the number of times gears are shifted, and the time taken to complete the reversing maneuver; the collected data is input into a proficiency analysis model, which outputs the driver's reversing proficiency; then, the corresponding audible prompt frequency is matched based on the reversing proficiency; finally, an audible prompt is issued to the driver at the matched frequency.

[0013] As a preferred embodiment: the proficiency analysis model includes the following calculation formula: P=a×F+b×D+c×T, where P represents the proficiency value, F represents the number of times the steering wheel is turned, D represents the number of times gears are shifted, T represents the reversing time, and a, b, and c are weighting coefficients. The model statistically analyzes the proficiency values ​​from multiple reversing maneuvers and calculates the average proficiency value. Several average proficiency value intervals are preset, each interval corresponding to a proficiency level. After calculating the average proficiency value, it is determined which interval it belongs to, thus determining the reversing proficiency level. During the current reversing process, the previously determined reversing proficiency level is obtained, and the corresponding prompt frequency is obtained based on this proficiency level, with a prompt sound emitted according to this frequency.

[0014] As a preferred solution: during the reversing process, determine which sector of α, β, or γ the vehicle's centerline is located in, and obtain the maximum safe left and right rotation angle of the steering wheel based on the angle between the centerline and the left and right boundaries of the current sector. When the driver rotates the steering wheel to the maximum angle, a prompt signal is given to the driver.

[0015] A parking assistance system includes an information acquisition module, a control module, a data storage module, a display module, and a sound module. The information acquisition module includes image sensors mounted around the vehicle body, a distance sensor mounted at the rear of the vehicle, an angle sensor for detecting steering wheel rotation angle, a speed sensor for detecting vehicle speed, and a gear position sensor for detecting gear position. The control module includes a calculation unit, a judgment unit, and a processing unit. When the gear position sensor detects that the vehicle is in reverse gear, the processing unit fuses the environmental images acquired by the image sensors and activates the panoramic imaging function through the display module. The processing unit identifies parking spaces and vehicles in the panoramic image, delineates parking spaces in the panoramic image based on the identification results, and models the vehicle and adjacent vehicles. When there are vehicles in both left and right parking spaces next to the target parking space in the panoramic image, the processing unit processes the panoramic image to obtain the center point O of the vehicle model in the panoramic image. The processing unit draws a first extension line from the center point O in the panoramic image and connects it to the left... The rear bumper of the right-side vehicle model is tangent to the curved surface. The angle between the two first extended lines is α. A second extended line is drawn from the center point O and intersects the middle of the side of the left and right side vehicles. The angle between the two second extended lines is β. A third extended line is drawn from the center point O and intersects the corner of the front bumper of the left and right side vehicles. The angle between the two third extended lines is γ. The fan-shaped area covered by the angle α is defined as the safe area. The area within the fan-shaped area covered by the angle β but outside the fan-shaped area covered by the angle α is defined as the risk area. The area within the fan-shaped area covered by the angle γ but outside the fan-shaped area covered by the angle β is defined as the alarm area. During reversing, when the judgment unit determines that the centerline of the vehicle is in the safe area, the processing unit displays a first warning color in the panoramic image. When the centerline of the vehicle is in the risk area, the processing unit displays a second warning color in the panoramic image. When the centerline of the vehicle is in the alarm area, the processing module displays a third warning color in the panoramic image and the control module controls the sound module to emit a warning sound.

[0016] As a preferred embodiment: the data storage module sets different safe distance values ​​for each different prompt area. During the reversing process, the judgment unit determines which prompt area the vehicle's heading falls into, and then retrieves the safe distance value corresponding to the current prompt area from the data storage module; the distance sensor detects the distance Sh between the rear of the vehicle and the adjacent vehicle in real time, and the judgment unit compares the detected distance Sh between the rear of the vehicle and the adjacent vehicle with the retrieved safe distance value. When the distance Sh between the rear of the vehicle and the adjacent vehicle is less than the safe distance value, the control module controls the sound module to issue an audible prompt to the driver.

[0017] As a preferred solution: the system pre-sets several reversing speed ranges and calibrates an adjustment coefficient k for each speed range. The speed range data and adjustment coefficients are stored in the data storage module. During reversing, the speed sensor detects the speed in real time. The judgment unit compares the detected speed with the pre-set speed ranges to determine which speed range the current speed belongs to, and retrieves the corresponding adjustment coefficient k from the data storage module. The calculation unit multiplies the included angle α and included angle β by the adjustment coefficient k to obtain the corrected adjustment angle. This allows for real-time adjustment of the coverage of the safe zone, the safety zone, and the alarm zone. The coverage of the safe zone and the risk zone will be reduced after adjustment, while the coverage of the alarm zone will be increased.

[0018] As a preferred embodiment: the calculation unit is equipped with a proficiency analysis module, which pre-establishes a correspondence between reversing proficiency and the frequency of the prompting sound, and the correspondence data is stored in the data storage module; when the driver is detected to be reversing, the driver's operation data is collected, including the number of times the driver turns the steering wheel, the number of times the gear is shifted, and the time to complete the reversing operation; the collected data is input into the proficiency analysis model, which outputs the driver's reversing proficiency; then, the prompting frequency corresponding to the reversing proficiency is matched; and then an audio prompt is issued to the driver at the matched prompting frequency.

[0019] Compared with the prior art, the technical solution of this application has the following beneficial technical effects: the parking assistance system does not continuously emit an alarm sound during the reversing process, but instead detects the distance between the vehicle and the rear and the side obstacles in real time, and delineates the area between the vehicle and the obstacle. Based on which area the vehicle's heading falls into, the system provides a corresponding color indication in the reversing panoramic image. The alarm sound is only emitted when the vehicle's heading is determined to fall into the alarm area. In this way, the alarm sound is not emitted throughout the reversing process, which can play a warning role without disturbing the driver too much, thus improving the reversing experience. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the parking assistance method in Example 1;

[0021] Figure 2 This is a schematic diagram of the parking assistance system in Example 2. Detailed Implementation

[0022] Example 1:

[0023] Reference Figure 1A parking assistance method involves activating a panoramic imaging function when a vehicle is detected moving in reverse gear. The method identifies parking spaces and vehicles within the panoramic image, delineates parking spaces on the panoramic image based on the identification results, and models the vehicle and adjacent vehicles. When vehicles are present in both left and right parking spaces adjacent to the target parking space in the panoramic image, the panoramic image is processed to obtain the center point O of the vehicle model (point O is the intersection of two diagonals between four points on the front and rear of the vehicle). A first extension line is drawn from the center point O in the panoramic image, tangent to the rear surround arc surfaces of the adjacent vehicle models, with an angle α between the two first extension lines. A second extension line is drawn from the center point O, intersecting the middle of the sides of the adjacent vehicles, with an angle α between the two second extension lines. Angle β is drawn from the center point O, and a third extended line intersects the corners of the front bumpers of the left and right adjacent vehicles. The included angle between the two third extended lines is γ. The fan-shaped area covered by the included angle α is defined as the safe zone. The area within the fan-shaped area covered by the included angle β but outside the fan-shaped area covered by the included angle α is defined as the risk zone. The area within the fan-shaped area covered by the included angle γ but outside the fan-shaped area covered by the included angle β is defined as the alarm zone. During reversing, when the centerline of the vehicle is in the safe zone, a first warning color is displayed in the panoramic image. When the centerline of the vehicle is in the risk zone, a second warning color is displayed in the panoramic image. When the centerline of the vehicle is in the alarm zone, a third warning color is displayed in the panoramic image and a warning sound is emitted.

[0024] With the above solution, the vehicle will not continuously emit an alarm sound during reversing. Instead, it will detect the distance between the vehicle and obstacles behind and to the side of the rear in real time, and delineate the area between the vehicle and the obstacle. Based on which area the vehicle's heading falls into, the reversing panoramic image will display a corresponding color indicator. The alarm will only sound when the vehicle's heading is determined to be within the warning area. In this way, the alarm will not sound continuously during reversing, which can serve as a warning and prompt without disturbing the driver too much, thus improving the reversing experience.

[0025] Considering that drivers may travel at relatively high speeds while reversing, and that this high speed could pose a significant collision risk if the vehicle's trajectory falls within risk or warning zones, different safe distance values ​​are set for each warning zone to reduce the risk of collisions with obstacles during reversing. For example, the safe distance value for the safe zone is set to L1, the safe distance value for the risk zone is set to L2, and the safe distance value for the warning zone is set to L3, where L2 > L3.

[0026] During reversing, the system determines which warning area the vehicle's heading falls into, and then retrieves the corresponding safe distance value for the current warning area. It also detects the distance Sh between the rear of the vehicle and the adjacent vehicle in real time, and compares the detected distance Sh with the retrieved safe distance value. When the distance Sh between the rear of the vehicle and the adjacent vehicle is less than the safe distance value, it issues an audible warning to the driver.

[0027] This allows for differentiated warnings regarding the safe distance to each warning zone based on which the vehicle's heading falls within, thus reducing the risk of collision.

[0028] Based on the above scheme, the coverage angle range of each prompt area can be further adjusted.

[0029] Specifically: Several sets of reversing speed ranges are preset in advance, and an adjustment coefficient k (adjustment coefficient less than 1) is assigned to each set of speed ranges; during the reversing process, the vehicle speed is detected in real time, and the detected speed is compared with the preset speed ranges to determine which speed range the current speed belongs to, and the corresponding adjustment coefficient k is retrieved; the included angles α and β are multiplied by the adjustment coefficient k respectively to obtain the corrected adjustment angle, and the various warning areas are redefined based on the adjusted angle; in this way, the coverage of the safe area, the risk area, and the alarm area can be adjusted in real time. After adjustment, the coverage of the safe area and the risk area will be reduced, while the coverage of the alarm area will be increased.

[0030] The above measures enable adaptive adjustment of the coverage of each warning area based on the reversing speed, providing safer and more reliable warnings to the driver and further improving reversing safety.

[0031] Furthermore, considering that drivers' reversing skills will improve after repeated reversing, the frequency of the prompts can be adjusted according to their reversing proficiency when prompts are needed during the reversing process.

[0032] Establish a pre-defined correspondence between reversing proficiency and the frequency of warning sounds.

[0033] In this embodiment, the method for judging the driver's proficiency is as follows: when the driver is detected to be performing a reversing operation, the driver's operation data is collected. The collected data includes the number of times the driver turns the steering wheel, the number of times the gear is switched, and the time to complete the reversing operation (the reversing time is defined as: when the vehicle is running, the time starts from the first time the gear is switched from forward to reverse and ends when the vehicle is turned off).

[0034] The collected data is input into a proficiency analysis model, which automatically outputs the driver's reversing proficiency level. Then, based on the reversing proficiency level, a corresponding audio prompt frequency is matched. An audio prompt is then issued to the driver at the matched frequency.

[0035] The above methods can automatically adjust the frequency of the sound prompts based on the driver's reversing proficiency. For example, if the prompts were previously twice per second, they can be adjusted to be once per second, thus reducing the disturbance of the prompts to the driver and further improving the reversing experience.

[0036] In this embodiment, the proficiency analysis model includes the following calculation formula: P = a × F + b × D + c × T, where P represents the proficiency value, F represents the number of times the steering wheel is turned, D represents the number of times the gear is shifted, T represents the reversing time, and a, b, and c are weighting coefficients.

[0037] The system counts the proficiency scores from multiple reversing maneuvers and calculates the average proficiency score. Several average proficiency score intervals are preset, with each interval corresponding to a proficiency level. After calculating the average proficiency score, it determines which interval it belongs to, thereby determining the reversing proficiency level. During the current reversing process, the previously determined reversing proficiency level is obtained, and the corresponding prompt frequency is obtained based on this reversing proficiency level. A prompt sound is emitted according to this prompt frequency.

[0038] To better guide the driver, in this embodiment, during the reversing process, it is determined which sector region (α, β, γ) the vehicle's centerline is located in, and the maximum safe left and right rotation angle of the steering wheel is obtained based on the angle between the centerline and the left and right boundaries of the current sector region. When the driver rotates the steering wheel to the maximum angle, a prompt signal is fed back to the driver.

[0039] Example 2:

[0040] Reference Figure 2 A parking assistance system for performing the method in Embodiment 1, the system comprising an information acquisition module, a control module, a data storage module, a display module, and a sound module.

[0041] The information acquisition module includes image sensors installed around the vehicle body, a distance sensor installed at the rear of the vehicle, an angle sensor for detecting the steering wheel rotation angle, a speed sensor for detecting vehicle speed, and a gear sensor for detecting gear position.

[0042] The control module includes a calculation unit, a judgment unit, and a processing unit.

[0043] The system works as follows: When the gear sensor detects that the vehicle is in reverse gear, the processing unit fuses the environmental images collected by the image sensor and activates the panoramic imaging function through the display module; the processing unit identifies parking spaces and vehicles in the panoramic image, and delineates parking spaces and models the vehicle and adjacent vehicles based on the identification results; when there are vehicles on both sides of the target parking space in the panoramic image, the processing unit processes the panoramic image to obtain the center point O of the vehicle model in the panoramic image (point O is the intersection of the two diagonals between the four points of the front and rear of the vehicle); the processing unit draws a first extension line from the center point O in the panoramic image that is tangent to the rear surround arc surface of the models of the left and right adjacent vehicles, with the angle between the two first extension lines being α; a second extension line is drawn from the center point O that intersects the middle of the side of the left and right adjacent vehicles. The angle between the two second extended lines is β. A third extended line is drawn from the center point O and intersects with the corners of the front bumpers of the left and right side vehicles. The angle between the two third extended lines is γ. The fan-shaped area covered by the included angle α is defined as the safe area. The area within the fan-shaped area covered by the included angle β but outside the fan-shaped area covered by the included angle α is defined as the risk area. The area within the fan-shaped area covered by the included angle γ but outside the fan-shaped area covered by the included angle β is defined as the alarm area. During the reversing process, when the judgment unit determines that the center line of the vehicle is located in the safe area, the processing unit displays a first prompt color in the panoramic image. When the center line of the vehicle is located in the risk area, the processing unit displays a second prompt color in the panoramic image. When the center line of the vehicle is located in the alarm area, the processing module displays a third prompt color in the panoramic image and the control module controls the sound module to emit a prompt sound.

[0044] Considering that drivers may travel at relatively high speeds while reversing, and that this high speed could pose a significant collision risk if the vehicle's trajectory falls within risk or warning zones, different safe distance values ​​are set for each warning zone to reduce the risk of collisions with obstacles during reversing. For example, the safe distance value for the safe zone is set to L1, the safe distance value for the risk zone is set to L2, and the safe distance value for the warning zone is set to L3, where L2 > L3. These preset data are stored in the data storage module.

[0045] During the reversing process, the judgment unit determines which warning area the vehicle's heading falls into, and then retrieves the corresponding safe distance value from the data storage module. The distance sensor detects the distance Sh between the rear of the vehicle and the adjacent vehicle in real time. The judgment unit compares the detected distance Sh between the rear of the vehicle and the adjacent vehicle with the retrieved safe distance value. When the distance Sh between the rear of the vehicle and the adjacent vehicle is less than the safe distance value, the control module controls the sound module to issue an audible warning to the driver.

[0046] Based on the above scheme, the coverage angle range of each prompt area can be further adjusted.

[0047] Specifically: Several sets of reversing speed ranges are preset in advance, and an adjustment coefficient k (adjustment coefficient less than 1) is assigned to each set of speed ranges. The speed range data and adjustment coefficients are stored in the data storage module. During reversing, the speed sensor detects the speed in real time. The judgment unit compares the detected speed with the preset speed ranges to determine which speed range the current speed belongs to, and retrieves the corresponding adjustment coefficient k from the data storage module. The calculation unit multiplies the included angle α and included angle β by the adjustment coefficient k to obtain the corrected adjustment angle. In this way, the coverage of the safe zone, the safety zone, and the alarm zone can be adjusted in real time. The coverage of the safe zone and the risk zone will be reduced after adjustment, while the coverage of the alarm zone will be increased.

[0048] Considering that drivers' reversing skills will improve after repeated reversing, the frequency of the prompts can be adjusted according to their reversing proficiency when prompts are needed during the reversing process.

[0049] A pre-established correspondence between reversing proficiency and the frequency of warning sounds is created, and the corresponding data is stored in the data storage module.

[0050] The method for judging the driver's proficiency is as follows: when the driver is detected to be reversing, the driver's operation data is collected. The collected data includes the number of times the driver turns the steering wheel, the number of times the gear is shifted, and the time to complete the reversing (the reversing time is defined as: the time starts from the first time the vehicle is switched from forward gear to reverse gear when the vehicle is running, and ends when the vehicle is turned off).

[0051] The calculation unit has a built-in proficiency analysis module.

[0052] The collected data is input into a proficiency analysis model, which outputs the driver's reversing proficiency level. Then, a corresponding audio prompt frequency is matched based on the reversing proficiency level. Finally, an audio prompt is issued to the driver at the matched frequency.

[0053] In this embodiment, the proficiency analysis model includes the following calculation formula: P = a × F + b × D + c × T, where P represents the proficiency value, F represents the number of times the steering wheel is turned, D represents the number of times the gear is shifted, T represents the reversing time, and a, b, and c are weighting coefficients.

[0054] The calculation unit calculates and statistically analyzes the proficiency value of multiple reversing maneuvers, and calculates the average proficiency value. Several average proficiency value intervals are preset, and each interval corresponds to a proficiency level. After calculating the average proficiency value, the calculation unit determines which interval it belongs to, and then determines the reversing proficiency level. During the current reversing process, the previously determined reversing proficiency level is obtained, and the corresponding prompt frequency is obtained based on the reversing proficiency level. A prompt sound is emitted according to the prompt frequency.

[0055] To better alert the driver, in this embodiment, during the reversing process, the judgment unit determines which sector region (α, β, γ) the vehicle's centerline is located in. The calculation unit calculates the maximum safe left and right rotation angle of the steering wheel based on the angle between the centerline and the left and right boundaries of the current sector region. When the angle sensor detects that the driver has turned the steering wheel to the maximum angle, the control module controls the sound module to send a prompt signal to the driver.

[0056] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A parking assistance method, characterized in that: When a vehicle is detected driving in reverse, the panoramic imaging function is activated. Parking spaces and vehicles in the panoramic image are identified. Based on the identification results, parking spaces are delineated in the panoramic image, and models of the vehicle itself and adjacent vehicles are created. When vehicles are present in both left and right parking spaces next to the target parking space in the panoramic image, the panoramic image is processed to obtain the center point O of the vehicle model. A first extension line is drawn from the center point O in the panoramic image, tangent to the rear surround arc surfaces of the left and right adjacent vehicle models, with an angle α between the two first extension lines. A second extension line is drawn from the center point O, intersecting the middle of the side surfaces of the left and right adjacent vehicles, with an angle β between the two second extension lines. A third extension line is drawn from the center point O, intersecting the left and right... When the front bumpers of the adjacent vehicles intersect at a corner, the angle between the two extended third lines is γ. The fan-shaped area covered by angle α is defined as the safe zone, the area within the fan-shaped area covered by angle β but outside the fan-shaped area covered by angle α is defined as the risk zone, and the area within the fan-shaped area covered by angle γ but outside the fan-shaped area covered by angle β is defined as the alarm zone. During reversing, when the centerline of the vehicle is in the safe zone, a first warning color is displayed in the panoramic image; when the centerline of the vehicle is in the risk zone, a second warning color is displayed in the panoramic image; and when the centerline of the vehicle is in the alarm zone, a third warning color is displayed in the panoramic image and a warning sound is emitted.

2. The parking assistance method according to claim 1, characterized in that: Different safe distance values ​​are set for different warning areas. During reversing, the system determines which warning area the vehicle's heading falls into and then retrieves the corresponding safe distance value for the current warning area. The system also monitors the distance Sh between the rear of the vehicle and the adjacent vehicle in real time and compares the detected distance Sh with the retrieved safe distance value. If the distance Sh between the rear of the vehicle and the adjacent vehicle is less than the safe distance value, an audible warning is issued to the driver.

3. The parking assistance method according to claim 1, characterized in that: a preset... Several reversing speed ranges are set, and an adjustment coefficient k is calibrated for each speed range. During the reversing process, the vehicle speed is detected in real time, and the detected speed is compared with several pre-set speed ranges to determine which speed range the current speed belongs to, and the adjustment coefficient k corresponding to that speed range is retrieved. The included angles α and β are calculated with the adjustment coefficient k to obtain the corrected adjustment angle, and the various prompt areas are redivided with the adjusted angle.

4. The parking assistance method according to claim 1, characterized in that: A pre-established correspondence between reversing proficiency and the frequency of audible prompts is established. When the driver is detected reversing, the driver's operation data is collected, including the number of times the driver turns the steering wheel, the number of times the driver shifts gears, and the time taken to complete the reversing maneuver. The collected data is then input into a proficiency analysis model, which outputs the driver's reversing proficiency. The corresponding audible prompt frequency is then matched based on the reversing proficiency, and an audible prompt is issued to the driver at the matched frequency.

5. The parking assistance method according to claim 4, characterized in that: The proficiency analysis model includes the following calculation formula: P = a × F + b × D + c × T, where P represents the proficiency value, F represents the number of times the steering wheel is turned, D represents the number of times the gear is shifted, T represents the reversing time, and a, b, and c are weighting coefficients. The proficiency values ​​of multiple reversing operations are statistically analyzed, and the average proficiency value is calculated. Several average proficiency value ranges are preset, with each range corresponding to a proficiency level. After calculating the average proficiency value, it is determined which range it belongs to, thereby determining the reversing proficiency level. During the current reversing process, the previously determined reversing proficiency level is obtained, and the corresponding prompt frequency is obtained based on the reversing proficiency level. Prompt sounds are emitted according to the prompt frequency.

6. The parking assistance method according to claim 1, characterized in that: in During reversing, determine which sector of α, β, or γ the vehicle's centerline is located in, and determine the maximum safe left and right turning angle of the steering wheel based on the angle between the centerline and the left and right boundaries of the current sector. When the driver turns the steering wheel to the maximum angle, a prompt signal is sent to the driver.

7. A parking assistance system, characterized in that: The system includes an information acquisition module, a control module, a data storage module, a display module, and a sound module. The information acquisition module includes image sensors mounted around the vehicle body, a distance sensor mounted at the rear, an angle sensor for detecting steering wheel rotation angle, a speed sensor for detecting vehicle speed, and a gear sensor for detecting gear position. The control module includes a calculation unit, a judgment unit, and a processing unit. When the gear sensor detects that the vehicle is in reverse gear, the processing unit fuses the environmental images acquired by the image sensors and activates the panoramic imaging function through the display module. The processing unit identifies parking spaces and vehicles in the panoramic image, delineates parking spaces in the panoramic image based on the identification results, and models the vehicle itself and adjacent vehicles. When there are vehicles on both sides of the target parking space in the panoramic image, the processing unit processes the panoramic image to obtain the center point O of the vehicle model in the panoramic image. The processing unit draws a first extension line from the center point O in the panoramic image to connect with the models of the vehicles on the left and right sides. The rear bumper is tangent to the curved surface, and the angle between the two first extended lines is α. A second extended line is drawn from the center point O and intersects the middle of the side of the left and right vehicles, with an angle of β between the two second extended lines. A third extended line is drawn from the center point O and intersects the corner of the front bumper of the left and right vehicles, with an angle of γ between the two third extended lines. The fan-shaped area covered by angle α is defined as the safe area. The area within the fan-shaped area covered by angle β but outside the fan-shaped area covered by angle α is defined as the risk area. The area within the fan-shaped area covered by angle γ but outside the fan-shaped area covered by angle β is defined as the alarm area. During reversing, when the judgment unit determines that the centerline of the vehicle is in the safe area, the processing unit displays a first warning color in the panoramic image. When the centerline of the vehicle is in the risk area, a second warning color is displayed in the panoramic image. When the centerline of the vehicle is in the alarm area, the processing module displays a third warning color in the panoramic image, and the control module controls the sound module to emit a warning sound.

8. The parking assistance system according to claim 7, characterized in that: The data storage module sets different safe distance values ​​for each different prompt area. During the reversing process, the judgment unit determines which prompt area the vehicle's heading falls into, and then retrieves the safe distance value corresponding to the current prompt area from the data storage module. The distance sensor detects the distance Sh between the rear of the vehicle and the adjacent vehicle in real time. The judgment unit compares the detected distance Sh between the rear of the vehicle and the adjacent vehicle with the retrieved safe distance value. When the distance Sh between the rear of the vehicle and the adjacent vehicle is less than the safe distance value, the control module controls the sound module to issue an audible prompt to the driver.

9. The parking assistance system according to claim 7, characterized in that: The system pre-sets several reversing speed ranges and calibrates an adjustment coefficient k for each speed range. The speed range data and adjustment coefficients are stored in the data storage module. During the reversing process, the speed sensor detects the speed in real time. The judgment unit compares the detected speed with the pre-set speed ranges to determine which speed range the current speed belongs to and retrieves the corresponding adjustment coefficient k from the data storage module. The calculation unit multiplies the included angles α and β by the adjustment coefficient k to obtain the corrected adjustment angle; this enables real-time adjustment of the coverage of the safe zone, the risk zone, and the alarm zone. The coverage of the safe zone and the risk zone will be reduced after adjustment, while the coverage of the alarm zone will be increased.

10. The parking assistance system according to claim 7, characterized in that: The calculation unit is equipped with a proficiency analysis module, which pre-establishes a correspondence between reversing proficiency and the frequency of warning sounds, and the correspondence data is stored in the data storage module; when the driver is detected to be reversing, the driver's operation data is collected, including the number of times the driver turns the steering wheel, the number of times the gear is shifted, and the time to complete the reversing operation; the collected data is input into the proficiency analysis model, and the proficiency analysis model outputs the driver's reversing proficiency. Then, the system matches the frequency of the prompt sound to the driver's level of driving proficiency; and then issues an audio prompt to the driver at the matched frequency.

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