Manual and automatic parking compatible system and method

Abstract

The invention discloses a parking system and method compatible with manual operation and automatic operation. The parking system comprises a parking controller, a parking space judgment system and a mobile phone APP. The parking controller is connected with the parking space judgment system and the mobile phone APP. The parking controller is internally provided with an automatic parking mode and a remote control parking mode; the parking space judgment system identifies and analyzes a parking space through a target identification algorithm and judges whether to enter an automatic parking mode or a remote control parking mode according to an identification result; in the automatic parking mode, the parking controller automatically controls the vehicle to complete parking operation; and in the remote control parking mode, the parking controller receives a control signal from the mobile phone APP and executes the control signal to complete remote control parking. The method has the advantages that the two modes of automatic parking and manual remote control parking are compatible, manual parking is switched on the basis of recognizing that automatic parking cannot be achieved, parking control is completed by hand cranking after a user gets off the vehicle, and the user experience is improved.

Description

Technical Field

[0001] The present invention relates to the field of automobile parking control, and in particular to a parking system and method compatible with manual and automatic control. Background Art

[0002] In the prior art, automatic parking of cars provides convenience for users to use vehicles, and provides basic driving functions for novice drivers through automatic parking. For example, the patent application number is 202111593055.4, which is an automatic parking method, an automatic parking control device, and an automatic parking system. The automatic parking method includes: when colliding with an obstacle during parking in a parallel parking space, judging whether the current parking space is a parallel parking space with a limit block according to the collision parameters; when it is determined that the current parking space is a parallel parking space with a limit block, re-planning the parking path so that the vehicle avoids the limit block; and parking according to the re-planned parking path.

[0003] The above automatic parking solution solves the parking difficulty problem for novice drivers and improves the user experience. However, in many cases, due to the recognition problem of the automatic parking system and the algorithm optimization problem, automatic parking cannot be applied to all parking scenarios. In many cases, users need to operate it themselves. Novices cannot accurately complete the operation of reversing into the garage or parking in the garage due to reasons such as the sense of the car. Summary of the invention

[0004] The purpose of the present invention is to overcome the shortcomings of the prior art and provide a parking system and method that is compatible with both manual and automatic modes, which is compatible with both automatic parking and manual remote parking modes. Upon recognizing that automatic parking is not possible, the system switches to manual parking, and the user completes the parking control by hand after getting off the vehicle.

[0005] In order to achieve the above-mentioned purpose, the technical solution adopted by the present invention is: a parking system compatible with manual and automatic, including a parking controller, a parking space judgment system and a mobile phone APP; the parking controller is connected to the parking space judgment system and the mobile phone APP respectively; the parking controller has built-in automatic parking mode and remote control parking mode; the parking space judgment system identifies and analyzes the parking space through a target recognition algorithm and determines whether to enter the automatic parking mode or the remote control parking mode according to the recognition result; in the automatic parking mode, the parking controller automatically controls the vehicle to complete the parking operation; in the remote control parking mode, the parking controller receives the control signal from the mobile phone APP and executes it to complete the remote control parking.

[0006] The mobile phone APP accesses the TBOX through the Internet of Vehicles TBOX and / or a wifi hotspot, and the TBOX is connected to the parking controller to implement remote parking and to send instructions to the parking controller.

[0007] The parking controller is connected to a camera and an ultrasonic radar, and the camera and the ultrasonic radar are arranged around the vehicle and are used to detect the surrounding environment of the vehicle during the parking process.

[0008] The parking system further comprises a lateral control module, which is connected to the parking controller and is used for implementing lateral control of vehicle parking according to a control signal of the parking controller.

[0009] The lateral control module includes: the parking controller transmits the steering angle and steering torque required for parking to the electric power steering system EPS in the form of electrical signals through the vehicle network, and the EPS executes the steering command and feeds back the real-time steering angle to the parking controller.

[0010] The parking system further comprises a longitudinal control module, in which a parking controller sends longitudinal control information to an electronic stability system ESC, and the ESC then sends torque information to an engine management system EMS, thereby controlling the parking speed and acceleration of the vehicle.

[0011] The parking system further includes an idle parking space determination system, and the parking controller obtains the idle state of the parking space through the idle parking space determination system and navigates to the idle parking space according to the planned route.

[0012] The vacant parking space judgment system includes: using ultrasonic or infrared detection to detect whether there is a vehicle parked in the parking space, and then the roadside unit RSU receives and sends the detected parking space data through radio frequency, and then uploads the data to the cloud. After scheduling, the cloud sends the vacant parking space information to the vehicle end in the form of broadcast to notify the driver. After receiving the parking space information, the parking controller plans the route to the vacant parking space in advance through a high-precision map.

[0013] A method for a manual-automatic parking system, comprising:

[0014] When parking, the parking space judgment system uses the target recognition algorithm to identify and analyze the parking space and determines whether to enter the automatic parking mode or the remote parking mode based on the recognition result, and notifies the user of the result; after the user confirms, the corresponding parking mode is entered: in the automatic parking mode, the parking controller automatically controls the vehicle to complete the parking operation; in the remote parking mode, the parking controller receives the control signal from the mobile phone APP and executes it to complete the remote parking.

[0015] In remote parking mode, the mobile phone APP accesses the TBOX network through the Internet of Vehicles TBOX and or Wi-Fi hotspot. The TBOX and the parking controller are connected through CAN network communication to implement remote parking instructions sent to the parking controller.

[0016] The advantages of the present invention are that it is compatible with both automatic parking and manual remote parking modes, and switches to manual parking based on the recognition that automatic parking is impossible, and the user completes the parking control by hand after getting off the car, thereby improving the user experience, improving the adaptability of car parking, and meeting parking needs in different situations. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The following is a brief description of the contents expressed in the drawings of the present invention and the symbols in the drawings:

[0018] Figure 1 This is a schematic diagram of the parking control system of the present invention. DETAILED DESCRIPTION

[0019] The specific implementation of the present invention will be further explained in detail below by describing the optimal embodiment with reference to the accompanying drawings.

[0020] This implementation provides a parking solution, which determines whether automatic parking or remote parking is more suitable for the current parking space based on the recognition results, thereby achieving compatibility with parking in different situations, avoiding the defect of being unable to park automatically in some situations, and providing parking based on remote control, thereby solving the parking problem and making parking suitable for different usage scenarios.

[0021] A parking system compatible with manual and automatic in this solution includes a parking controller, a parking space determination system and a mobile phone APP;

[0022] The parking controller is connected to the parking space judgment system and the mobile phone APP respectively; the parking controller has built-in automatic parking mode and remote parking mode; the parking space judgment system recognizes and analyzes the parking space through the target recognition algorithm and determines whether to enter the automatic parking mode or the remote parking mode according to the recognition result;

[0023] In automatic parking mode, the parking controller automatically controls the vehicle to complete the parking operation; in remote parking mode, the parking controller receives the control signal from the mobile phone APP and executes it to complete remote parking.

[0024] When arriving near a parking space, the vehicle uses the camera and other sensors on the vehicle to collect parking space information, and then uses the target recognition algorithm to identify the type of parking space the target parking space belongs to. If it is identified as a prohibited parking space or a muddy road, the user is reminded in advance that parking is prohibited in the parking space ahead and the road ahead is a muddy road, so please choose remote parking. The vehicle also determines whether automatic parking can be carried out based on the width of the parking space. If it cannot be parked, the user is reminded to choose remote parking. In this way, when automatic parking cannot be achieved or does not meet the requirements, the user is given a second option to park in the remote control mode. Since the user can directly observe the vehicle status outside the vehicle in the remote control mode, there will be no safety hazards when parking in the garage, and parking in the garage is more reliable.

[0025] like Figure 1 As shown, the remote parking system includes: a camera; an ultrasonic radar; a mobile phone Bluetooth communication module T-BOX; a mobile phone APP; an electronic stability control system ESP; a transmission controller TCU; a power steering system EPS; an idle parking space judgment system; and a remote parking controller.

[0026] There are 4 cameras, divided into front, back, left and right, which are mainly used to obtain image information.

[0027] There are 12 ultrasonic radar probes, arranged in a pattern of 4 in the front, 4 in the rear, and two on the left and right sides, for obtaining obstacle distance information.

[0028] The mobile phone communicates with the vehicle body communication module via Bluetooth and sends vehicle control signals to the vehicle, and the key sends vehicle control signals to the vehicle via radio frequency signals. The mobile phone APP is a dedicated remote control parking software. The mobile phone APP can be used to control the direction of the vehicle's parking process. At this time, the mobile phone APP is equivalent to a remote control, which is connected to the vehicle and remotely controls the vehicle's parking process.

[0029] In a preferred embodiment of the present application, in order to achieve the reliability and stability of the mobile phone APP remote control of the vehicle, the communication between the mobile phone APP and the parking controller adopts a dual network communication method to avoid defects such as signal loss caused by single network communication. In order to achieve communication between the mobile phone APP and the parking controller, the mobile phone APP is connected to the vehicle-mounted TBOX through a network such as 5G, and the vehicle-mounted TBOX is connected to the parking controller, thereby achieving communication requirements. At the same time, the communication connection can also be achieved by establishing a wifi hotspot through the mobile phone wifi hotspot to connect to the vehicle-mounted TBOX. In this way, in places where the mobile network is not smooth, such as underground garages, stable and reliable communication can be achieved through wi fi hotspots, thereby achieving the purpose of remote parking for the vehicle.

[0030] During parking control, the parking controller has two built-in modules: lateral control and longitudinal control. The two modules work together to achieve parking control.

[0031] Lateral control: The remote parking controller transmits the steering angle and steering torque required for parking to the electric power steering system EPS through the vehicle network in the form of electrical signals. EPS executes the steering command and feeds back the real-time steering angle to the parking controller.

[0032] Longitudinal control: The remote parking controller sends longitudinal control information to the electronic stability system ESC, and then the ESC sends torque information to the engine management system EMS to control the vehicle's parking speed and acceleration.

[0033] When parking, since this solution supports both remote control and automatic parking, a parking space judgment system needs to be set up to determine whether automatic parking is currently supported. In the scenario where automatic parking is not supported, the user is notified to use remote control parking, thereby improving the reliability of parking. The parking space judgment system is used to determine whether the current parking space status meets the requirements of automatic parking. Because automatic parking requires a certain width of the parking space and certain requirements for surrounding obstruction, parking space information can be collected to determine whether automatic parking is met. The judgment of automatic parking uses sensors such as on-board cameras to collect parking space information. Its judgment logic includes the following: The parking space judgment system uses a target recognition algorithm to identify which type of parking space the target parking space belongs to. If it is identified as a prohibited parking space or a muddy road, the user is reminded in advance that the parking space ahead is prohibited from parking and the road ahead is a muddy road, so please choose remote control parking. And determine whether the parking space width can be parked automatically. If it cannot be parked, remind the user to choose remote control parking.

[0034] In a preferred solution of this embodiment, in order to quickly reach the parking space for automatic parking, this solution is provided with an empty parking space judgment system, and the parking controller isomorphic to the vehicle-mounted TBOX connected to the empty parking space judgment system, so as to achieve rapid arrival near the parking space, thereby facilitating automatic parking or remote control parking.

[0035] The vacant parking space judgment system includes: using ultrasonic or infrared detection to detect whether there is a vehicle parked in the parking space, and then the roadside unit RSU receives and sends the detected parking space data through radio frequency (including using 5G), and then uploads the data to the cloud. After scheduling, the cloud sends the vacant parking space information to the vehicle side in the form of broadcast to notify the driver and plan the route in advance through high-precision maps. The function of informing the driver of vacant parking spaces in advance is realized.

[0036] The remote control parking method in this embodiment includes the following steps:

[0037] Step 1: The free parking space determination system sends the free parking space location to the user in advance.

[0038] Step 2: The vehicle is powered on, the ignition is on, the vehicle arrives near the parking space, the user clicks the PA soft switch or voice enters the parking function, and the vehicle speed is less than 30kph, the parking system enters the parking space search mode.

[0039] Step 3: After entering the parking space search mode, the car computer prompts the user to select an available parking space. The driver steps on the brake, and the parking controller first determines whether it is a prohibited parking space or a muddy road. If it can be parked normally, it will then determine whether the parking space width can be automatically parked. If it cannot be automatically parked, the car computer reminds the user to select remote parking. After the parking preparation conditions are met, if it is remote parking mode, shift into P gear, activate EPB parking, the driver gets out of the car and closes the door, and parks in the parking space according to the planned trajectory according to the mobile phone prompts. After parking, it automatically shifts into P gear, activates the electronic handbrake, and turns off the engine.

[0040] When performing parking control, the vehicle is required to meet the preparation conditions, which include: all four doors are closed, the main driver's seat belt is fastened, the trunk is closed, the charging port cover is closed, and the front hatch is closed. Only when the preparation conditions are met can the automatic parking or remote parking mode be entered, otherwise it is prohibited to enter the parking mode.

[0041] Vehicles using the above parking solution can reduce traffic congestion and accidents, greatly improve the degree of driving automation, and make parking strategies more intelligent and reasonable. They can meet the requirements of automatic and manual dual-mode parking, and can be automatically selected according to the situation of the garage. Users can know the parking information in advance, reducing the time for users to find a car. The target recognition algorithm can be used to identify in advance whether the parking space can be parked, and whether the width of the parking space is suitable for automatic parking, providing a basis for the driver to choose the parking method.

[0042] In this solution, the parking space information is sent to the cloud through the roadside unit RSU, and then the information is sent to the driver, so that the driver can know the parking space information in advance, which is more convenient for parking. The target recognition algorithm identifies the parking space category, which helps the driver make a choice based on the parking space category.

[0043] Obviously, the specific implementation of the present invention is not limited to the above-mentioned methods. As long as various non-substantial improvements are made using the method concept and technical solution of the present invention, they are all within the protection scope of the present invention.

Claims

1. A parking system compatible with manual and automatic parking, characterized in that: It includes a parking controller, a parking space judgment system and a mobile phone APP; the parking controller is connected to the parking space judgment system and the mobile phone APP respectively; the parking controller has built-in automatic parking mode and remote parking mode; the parking space judgment system identifies and analyzes the parking space through a target recognition algorithm and determines whether to enter the automatic parking mode or the remote parking mode according to the recognition result; in the automatic parking mode, the parking controller automatically controls the vehicle to complete the parking operation; in the remote parking mode, the parking controller receives the control signal from the mobile phone APP and executes it to complete the remote parking.

2. The manual and automatic parking system as claimed in claim 1, characterized in that: The mobile phone APP accesses the TBOX through the Internet of Vehicles TBOX and / or a wifi hotspot, and the TBOX is connected to the parking controller to implement remote parking and to send instructions to the parking controller.

3. The manual and automatic parking system as claimed in claim 1, characterized in that: The parking controller is connected to a camera and an ultrasonic radar, and the camera and the ultrasonic radar are arranged around the vehicle and are used to detect the surrounding environment of the vehicle during the parking process.

4. A manual and automatic parking system as claimed in any one of claims 1 to 3, characterized in that: The parking system further comprises a lateral control module, which is connected to the parking controller and is used for implementing lateral control of vehicle parking according to a control signal of the parking controller.

5. The manual and automatic parking system as claimed in claim 4, characterized in that: The lateral control module includes: the parking controller transmits the steering angle and steering torque required for parking to the electric power steering system EPS in the form of electrical signals through the vehicle network, and the EPS executes the steering command and feeds back the real-time steering angle to the parking controller.

6. A manual and automatic parking system as claimed in claim 4 or 5, characterized in that: The parking system further comprises a longitudinal control module, in which a parking controller sends longitudinal control information to an electronic stability system ESC, and the ESC then sends torque information to an engine management system EMS, thereby controlling the parking speed and acceleration of the vehicle.

7. A manual and automatic parking system as claimed in any one of claims 1 to 5, characterized in that: The parking system further includes an idle parking space determination system, and the parking controller obtains the idle state of the parking space through the idle parking space determination system and navigates to the idle parking space according to the planned route.

8. The manual and automatic parking system as claimed in claim 7, characterized in that: The vacant parking space judgment system includes: using ultrasonic or infrared detection to detect whether there is a vehicle parked in the parking space, and then the roadside unit RSU receives and sends the detected parking space data through radio frequency, and then uploads the data to the cloud. After scheduling, the cloud sends the vacant parking space information to the vehicle end in the form of broadcast to notify the driver. After receiving the parking space information, the parking controller plans the route to the vacant parking space in advance through a high-precision map.

9. A method for a manual and automatic parking system as claimed in any one of claims 1 to 8, characterized in that: include: When parking, the parking space determination system uses the target recognition algorithm to identify and analyze the parking space and determines whether to enter the automatic parking mode or the remote parking mode based on the recognition result, and notifies the user of the result; Enter the corresponding parking mode with user confirmation: in automatic parking mode, the parking controller automatically controls the vehicle to complete the parking operation; in remote parking mode, the parking controller receives the control signal from the mobile phone APP and executes it to complete remote parking.

10. The method of the manual and automatic parking system compatible with claim 9, characterized in that: In remote parking mode, the mobile phone APP accesses the TBOX network through the Internet of Vehicles TBOX and or wifi hotspot. The TBOX and the parking controller are connected through CAN network communication to implement remote parking instructions sent to the parking controller.

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