Parking method and system

Abstract

The invention discloses a parking method. The parking method comprises the steps that a vehicle icon, environment information around a vehicle and a vehicle contour capable of moving freely in a display interface are displayed in the display interface; wherein the display mode of the environment information around the vehicle comprises the following three modes: independently displaying the all-round image of the vehicle, independently displaying the contour of an obstacle around the vehicle, and overlapping and displaying the all-round image of the vehicle and the contour of the obstacle (S1); receiving a parking position autonomously set by a user, the parking position autonomously set by the user specifically being that the vehicle contour is moved to an expected parking position in the display interface (S2); and based on an actual parking position corresponding to the parking position, controlling the vehicle to park in the actual parking position (S3). The invention also discloses a parking system and a computer program product. According to some exemplary embodiments of the invention, the application scene of the vehicle parking function can be expanded, and the personalized demands of users can be considered.

Description

Technical Field

[0001] The present invention relates to the field of vehicles, and in particular to a parking method and system. Background Art

[0002] With the development of technology, many vehicles have begun to provide parking functions, especially in scenes with standard parking spaces such as parking lots, where the vehicle directly selects the best parking space to automatically park completely. However, users often face situations where there are no standard parking spaces or the marked parking lines are blocked. At this time, the original parking function of the vehicle may no longer be applicable, especially when the user has specific habits and preferences.

[0003] Therefore, it is expected to provide a parking method that can expand application scenarios while taking into account the personalized needs of users. Summary of the invention

[0004] In order to overcome one of the above disadvantages and / or other possible disadvantages in the prior art not mentioned herein, an object of the present invention is to provide a parking method and system, and a computer program product.

[0005] The present invention particularly includes the following technical concepts: the driver can autonomously select the desired parking area and position through virtual operation, and then control the vehicle to park in the actual parking position corresponding to the desired parking position, and the display interface can display the image and / or obstacle information of the vehicle parking process through multiple display modes. Through the present invention, parking can be performed in combination with the actual parking environment and the personalized needs of the user, so as to adapt to various application scenarios, meet the user's parking habits and preferences, and meet the user's real needs.

[0006] According to one aspect of the present invention, a parking method is provided, the parking method comprising: step S1: displaying a vehicle icon, environmental information around the vehicle, and a vehicle outline that can be moved freely in the display interface in a display interface; wherein the display mode of the environmental information around the vehicle comprises the following three modes: displaying a surround view image of the vehicle alone, displaying outlines of obstacles around the vehicle alone, and superimposing the surround view image of the vehicle and the outlines of the obstacles; step S2: receiving a parking position set autonomously by a user, wherein the parking position set autonomously by the user is specifically to move the vehicle outline to a desired parking position in the display interface; and step S3: based on an actual parking position corresponding to the parking position, controlling the vehicle to park in the actual parking position.

[0007] According to an optional embodiment of the present invention, the positional relationship between the vehicle icon and the environmental information surrounding the vehicle displayed in the display interface corresponds to the actual physical positional relationship between the current vehicle and the environmental information surrounding the vehicle; the environmental information surrounding the vehicle includes a parking area around the vehicle.

[0008] According to an optional embodiment of the present invention, in step S3, it is necessary to first confirm whether the parking position is a valid parking position, and only then start controlling the vehicle to park in the actual parking position, and the vehicle outline stays at the parking position; otherwise, the vehicle outline rebounds to the initial position, waiting for the user to reset the parking position.

[0009] According to an optional embodiment of the present invention, the effective parking position refers to a parking position that can avoid interference between the vehicle and obstacles during parking and can ensure that users can get on and off the vehicle normally after parking.

[0010] According to an optional embodiment of the present invention, the display interface is a touch-controlled interface, and the user moves the vehicle outline to the desired parking position in the display interface by touching.

[0011] According to an optional embodiment of the present invention, images captured by multiple cameras are stitched together with the help of an environment construction module to form a bird's-eye view surround image.

[0012] According to an optional embodiment of the present invention, obstacle information around the vehicle sensed by multiple ultrasonic sensors is processed by an environment construction module to obtain distance information of the vehicle relative to the obstacle; the obstacle refers to an obstacle that the vehicle cannot pass through.

[0013] According to an optional embodiment of the present invention, a parking path is planned with the aid of a parking path planning module, and the vehicle is controlled to park in the actual parking position according to the parking path.

[0014] According to a second aspect of the present invention, a parking system is provided, the parking system comprising: a display module 10, configured to display a vehicle icon, environmental information around the vehicle, and a vehicle outline that can be moved freely in the display interface in a display interface; wherein the display mode of the environmental information around the vehicle comprises the following three modes: displaying a surround view image of the vehicle alone, displaying outlines of obstacles around the vehicle alone, and superimposing the surround view image of the vehicle and the outlines of the obstacles; a receiving module 20, configured to receive a parking position set autonomously by a user, wherein the parking position set autonomously by the user is specifically to move the vehicle outline to a desired parking position in the display interface; and a control module 30, configured to control the vehicle to park in the actual parking position based on the actual parking position corresponding to the parking position.

[0015] According to a third aspect of the present invention, there is provided a computer program product, such as a machine-readable storage medium, comprising or storing computer program instructions, the computer program being adapted to perform a parking method when run on a computer.

[0016] According to certain exemplary embodiments of the present invention, the application scenarios of the vehicle parking function can be expanded, and the personalized needs of users can be taken into account. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The present invention will be described in more detail below with reference to the accompanying drawings, so that the principles, features and advantages of the present invention can be better understood. The accompanying drawings include:

[0018] Figure 1 A flow chart showing a parking method according to an exemplary embodiment of the present invention is shown.

[0019] Figure 2 A schematic diagram of a parking process of a parking method according to an exemplary embodiment of the present invention is shown.

[0020] Figure 3 A schematic diagram of a vehicle having a parking system according to an exemplary embodiment of the present invention is shown.

[0021] Figure 4 One of the view display modes according to an exemplary embodiment of the present invention is shown.

[0022] Figure 5 One of the view display modes according to an exemplary embodiment of the present invention is shown.

[0023] Figure 6 One of the view display modes according to an exemplary embodiment of the present invention is shown. DETAILED DESCRIPTION

[0024] In order to make the technical problems, technical solutions and beneficial technical effects to be solved by the present invention more clearly understood, the present invention will be further described in detail below in conjunction with the accompanying drawings and multiple exemplary embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention, rather than to limit the scope of protection of the present invention.

[0025] Figure 1 A flow chart of a parking method according to an exemplary embodiment of the present invention is shown. The parking method comprises steps S1 and S2.

[0026] In step S1 of this exemplary embodiment, a vehicle icon, environmental information around the vehicle, and a vehicle outline that can be moved freely in the display interface are displayed in the display interface. The view display mode of the environmental information around the vehicle includes the following three modes: displaying the surround image of the vehicle alone, displaying the outline of obstacles around the vehicle alone, and superimposing the surround image of the vehicle and the outline of the obstacle. The environmental information around the vehicle includes at least the parking area around the vehicle, and the parking area around the vehicle corresponds to the area around the vehicle that can be sensed by the vehicle and meets the parking specifications and requirements. The positional relationship between the vehicle icon displayed on the screen and the parking area around the vehicle corresponds to the actual physical positional relationship between the current vehicle and the environmental information around the vehicle. The above three display modes refer to the display methods of the environmental information around the vehicle in the display interface. To display the outline of the obstacle around the vehicle separately means to identify the obstacle and extract its outline to display it on the interface. Extracting the outline of the obstacle and displaying it is helpful to assist the user to quickly perceive the location of the obstacle. To display the surround view image of the vehicle separately means to display the surround view image of the current location of the vehicle. To superimpose the surround view image of the vehicle and the outline of the obstacle means to superimpose the surround view image of the current location of the vehicle and the outline of the obstacle. In fact, the above three view display modes can be switched with each other. According to user needs, two or three of the three view display modes can also be displayed simultaneously on the vehicle display device.

[0027] Optionally, before the user moves the vehicle outline in the display interface through virtual manipulation, the initial position of the vehicle outline on the display interface can be fixed. Preferably, the initial position is around the display interface so as not to affect the display of other information in the display interface, while making it convenient for the user to always find and manipulate the vehicle outline at a fixed position.

[0028] The display position of the vehicle icon in the display interface may change according to the actual position of the vehicle. Optionally, the initial position of the vehicle outline on the display interface may also move with the vehicle icon. In particular, the initial position of the vehicle outline on the display interface is always around the vehicle icon. The vehicle outline may be in the form of a dotted frame, a semi-transparent colored frame, etc. that matches the vehicle icon.

[0029] Optionally, with the help of the environment construction module, the images captured by the multiple image acquisition devices can be stitched together to form a surround image. The image acquisition can include multiple surround cameras. In order to be able to collect environmental information at various angles around the vehicle, the multiple surround cameras are installed around the vehicle body and face different shooting angles. In particular, with the help of the environment construction module, the video streams of different angles captured by the multiple surround cameras are stitched together to form a top-down surround image.

[0030] Optionally, with the aid of the environment construction module, the obstacle information around the vehicle sensed by multiple ultrasonic sensors can be processed to obtain the distance information of the vehicle relative to the obstacle. Additionally, the obstacle information around the vehicle sensed by multiple ultrasonic sensors can also be processed to obtain the size information of the obstacle. Obstacles include people or objects around the vehicle. In particular, the parking method of the present invention can also combine the image information collected by the image acquisition device and the obstacle information sensed by the ultrasonic sensor to distinguish whether a specific obstacle is an obstacle that the vehicle can crush. For example, leaves, low steps, etc. can be distinguished as obstacles that the vehicle can crush, while trees, wall pillars, etc. are obstacles that the vehicle cannot crush. In addition, the parking method of the present invention can also utilize the perception information of the radar sensor, which is further conducive to constructing a surround image and providing obstacle information.

[0031] In step S2 of this exemplary embodiment, a parking position set by a user is received, wherein the user setting the parking position by himself specifically means moving the vehicle outline to the desired parking position in the display interface. The display interface may be a touch-controlled interface, and the user may move the vehicle outline to the desired parking position in the display interface by touch; the user may also set the parking position by himself through a device such as a mouse connected to the display interface, and the user may also manipulate the vehicle outline on other mobile terminals that are in communication with the display interface to indirectly set the parking position.

[0032] In step S3 of this exemplary embodiment, based on the actual parking position corresponding to the parking position, the vehicle is controlled to park in the actual parking position. The parking path planning module is used to plan the parking path, and the vehicle is controlled to park in the actual parking position according to the parking path. The parking path planning module can obtain the parking position set by the user, and obtain the actual parking position corresponding to the parking position, so that the parking path can be planned according to the actual parking position and the current position of the vehicle; in addition, the parking path planning module has an intelligent path optimization function to recommend the optimal path to the user. At the same time, the parking path planning module can plan the parking path in combination with the above-mentioned image information and obstacle information, and can distinguish the type of obstacles, especially whether the obstacles can be crushed by the vehicle. When planning the parking path, only obstacles that the vehicle cannot crush can be considered.

[0033] Optionally, it is necessary to confirm whether the parking position is a valid parking position before controlling the vehicle to park in the actual parking position, and the vehicle outline stays at the parking position; otherwise, the vehicle outline rebounds to the initial position, waiting for the user to reset the parking position. The valid parking position refers to a parking position that can avoid interference between the vehicle and obstacles during parking and can ensure that users can get on and off the vehicle normally after parking. In addition, a parking path planning module can be used to plan multiple parking paths to analyze and determine whether the vehicle traveling along the parking path will interfere with obstacles, especially obstacles that cannot be passed. At the same time, the parking path planning module can also be used to calculate and analyze whether users can get on and off the vehicle normally after parking based on the vehicle size and the parking position space size. In particular, based on the parking position, the parking path planning module can plan a parking path to avoid interference between the vehicle and obstacles during parking and ensure that users can get on and off the vehicle normally after parking, then confirm that the parking position is a valid parking position.

[0034] Optionally, in step S3 of the exemplary embodiment, the vehicle is controlled to automatically park in the actual parking position without human intervention. The parking path planning module sends the preferred parking path to the steering controller, brake controller and acceleration controller of the vehicle, and these controllers then send control instructions to the steering actuator, brake actuator and acceleration actuator respectively to park the vehicle in the actual parking position.

[0035] Figure 2A schematic diagram of a parking process of a parking method according to an exemplary embodiment of the present invention is shown. The initial position of the vehicle outline is around the vehicle icon. The user moves the vehicle outline from the initial position to the nearest vacant parking space in the display interface. Although the parking line on one side of the vacant parking space is blocked by a large vehicle next to it, the vehicle parking method can still judge the validity of the parking position in combination with the environmental information around the vehicle. Figure 2 When the parking position is confirmed as a valid parking position, the vehicle is controlled to park in the parking position, and the vehicle profile stays at the parking position.

[0036] Figure 3 A schematic diagram of a vehicle having a parking system according to an exemplary embodiment of the present invention is shown, wherein 12 ultrasonic sensors are installed around the vehicle body, and 4 cameras facing different shooting angles are installed in the front, back, left, and right directions of the vehicle.

[0037] The parking system has the following components: a display module 10, which is configured to display a vehicle icon, environmental information around the vehicle, and a vehicle outline that can be moved freely in the display interface; and the view display mode of the environmental information around the vehicle includes the following three modes: displaying the surround image of the vehicle alone, displaying the outline of obstacles around the vehicle alone, and superimposing the surround image of the vehicle and the outline of the obstacle;

[0038] A receiving module 20, which is configured to receive a parking position set by a user, wherein the parking position set by the user is specifically to move the vehicle outline to a desired parking position in the display interface;

[0039] The control module 30 is configured to control the vehicle to park in the actual parking position based on the actual parking position corresponding to the parking position.

[0040] Optionally, the environment construction module in the parking system can stitch the video streams shot by four cameras at different angles to form a bird's-eye view surround image, and can also process the obstacle information around the vehicle sensed by 12 ultrasonic sensors to obtain the distance information of the vehicle relative to the obstacles.

[0041] Figure 4 One of the view display modes according to an exemplary embodiment of the present invention is shown, specifically, separately displaying the outlines of obstacles around the vehicle, wherein the display interface mainly displays the outlines of obstacles around the vehicle, and the outlines of the obstacles can be represented by dotted boxes, and the dotted boxes match the size of the obstacles. In addition, the dotted boxes can also be replaced by other patterns or color blocks.

[0042] Figure 5 One of the view display modes according to an exemplary embodiment of the present invention is shown, specifically, separately displaying the surround image of the vehicle, wherein only the surround image of the vehicle is displayed on the display interface, specifically, it can be a bird's-eye surround image, wherein the environmental information around the vehicle includes the parking area around the vehicle, as well as obstacles such as immovable trees, movable cones, and fallen leaves that the vehicle can run over.

[0043] Figure 6 One of the view display modes according to an exemplary embodiment of the present invention is shown, specifically, the surround view image of the vehicle and the outline of the obstacle are superimposed and displayed. The display interface not only displays the surround view image of the vehicle, but also superimposes and displays the outline of the obstacle, where the outline of the obstacle is represented by a dotted frame.

[0044] In fact, the parking system of the present invention can display two or three display modes on multiple vehicle-mounted display devices at the same time, and can even display two or three display modes on the display interface of the same vehicle-mounted display device at the same time.

[0045] Although specific embodiments have been described above, these embodiments are not intended to limit the scope of the present disclosure, even when only a single embodiment is described with respect to specific features. The feature examples provided in the present disclosure are intended to be illustrative, not limiting, unless otherwise expressly stated. In specific implementations, multiple features can be combined with each other where technically feasible, depending on actual needs. Various substitutions, changes, and modifications may also be conceived without departing from the spirit and scope of the present invention.

Claims

1. A parking method, the parking method comprising: Step S1: Displaying a vehicle icon, environmental information around the vehicle, and a vehicle outline that can be moved freely in the display interface in a display interface; wherein the display mode of the environmental information around the vehicle includes the following three modes: displaying the surround image of the vehicle alone, displaying the outline of obstacles around the vehicle alone, and superimposing the surround image of the vehicle and the outline of the obstacles; Step S2: receiving a parking position set by a user, wherein the parking position set by the user is specifically moved to a desired parking position in the display interface; and, Step S3: Based on the actual parking position corresponding to the parking position, controlling the vehicle to park in the actual parking position.

2. The parking method according to claim 1, characterized in that: The positional relationship between the vehicle icon and the environmental information surrounding the vehicle displayed in the display interface corresponds to the actual physical positional relationship between the current vehicle and the environmental information surrounding the vehicle; the environmental information surrounding the vehicle includes a parking area around the vehicle.

3. The parking method according to claim 1, characterized in that: In step S3, it is necessary to first confirm whether the parking position is a valid parking position. If so, the vehicle is controlled to park in the actual parking position, and the vehicle outline stays at the parking position; otherwise, the vehicle outline bounces back to the initial position, waiting for the user to reset the parking position.

4. The parking method according to claim 3, characterized in that: The effective parking position refers to a parking position that can avoid interference between the vehicle and obstacles during the parking process and ensure that users can get on and off the vehicle normally after parking.

5. The parking method according to claim 1, characterized in that: The display interface is a touch-controlled interface, and the user moves the vehicle outline to the desired parking position in the display interface by touching.

6. The parking method according to claim 1, characterized in that: The environment construction module is used to stitch images taken by multiple cameras to form a bird's-eye view surround image.

7. The parking method according to claim 1, characterized in that: By means of the environment construction module, obstacle information around the vehicle sensed by multiple ultrasonic sensors is processed to obtain distance information of the vehicle relative to the obstacles; The obstacle refers to an obstacle that the vehicle cannot pass through.

8. The parking method according to claim 1, characterized in that: A parking path is planned with the help of a parking path planning module, and the vehicle is controlled to park in the actual parking position according to the parking path.

9. A parking system, comprising: A display module (10) is configured to display a vehicle icon, environmental information around the vehicle, and a vehicle outline that can be moved freely in the display interface in a display interface; wherein the display mode of the environmental information around the vehicle includes the following three modes: displaying the surround image of the vehicle alone, displaying the outline of obstacles around the vehicle alone, and superimposing the surround image of the vehicle and the outline of the obstacles; A receiving module (20) is configured to receive a parking position set by a user, wherein the user setting the parking position by himself is specifically to move the vehicle outline to a desired parking position in the display interface; and A control module (30) is configured to control the vehicle to park in the actual parking position based on the actual parking position corresponding to the parking position.

10. A computer program product, such as a machine-readable storage medium, comprising or storing computer program instructions, wherein the computer program is adapted to perform the parking method according to any one of claims 1 to 8 when executed on a computer.

Images