Multifunctional auxiliary parking system, method, equipment and vehicle

Abstract

The invention discloses a multifunctional auxiliary parking system which comprises a cabin domain host, a man-machine interaction unit and a sensor unit. The cabin domain host is connected with the man-machine interaction unit, and the cabin domain host comprises an automatic parking unit, an image monitoring unit and a vehicle distance monitoring unit; the image monitoring unit and the vehicle distance monitoring unit are connected with the sensor unit, the image monitoring unit is used for generating image information, and the vehicle distance monitoring unit is used for generating vehicle distance information; and the automatic parking unit is connected with the image monitoring unit and the vehicle distance monitoring unit, and the automatic parking unit is used for automatically parking according to the image information and the vehicle distance information. Vehicle environment information is obtained through hardware with unified functions, automatic parking and man-machine interaction are achieved through the cabin domain host integrating multiple functions, the integration degree of the auxiliary parking system is improved, the riding space arrangement pressure is reduced, and software and hardware resources are utilized to the maximum extent.

Description

Technical Field

[0001] This invention relates to the field of intelligent vehicle technology, and in particular to a multi-functional assisted parking system, method, device, and vehicle. Background Technology

[0002] With the development of intelligent vehicles, the national car ownership rate is gradually increasing, and cars have penetrated into millions of ordinary households. As the number of cars in cities increases, issues such as parking efficiency and vehicle safety arise in densely populated areas like shopping malls, hospitals, and residential buildings. How to quickly and easily complete parking without obstructing traffic, how to improve parking capacity, and how to maximize space utilization for parking in narrow lanes are all problems that parking assistance systems need to overcome. Furthermore, after the driver leaves the vehicle, problems such as scratches, collisions, and theft may occur without immediate knowledge, and accident scenes may be difficult to reconstruct, making it difficult to trace losses and seek redress. Therefore, how to instantly understand the vehicle's status is also an urgent problem to be solved.

[0003] To address the aforementioned issues, intelligent functions such as parking assistance, sentry mode, smart cockpit, and driving assistance have been expanded and enriched. However, while adding software functions, hardware resources are inevitably required to support them. For example, additional controllers, wiring harnesses, gateways, and other related components, as well as additional interfaces, have led to an increase in BOM sub-components, which has greatly increased the pressure on vehicle space layout and cost.

[0004] How to reduce the pressure of passenger space layout and maximize the use of hardware and software resources is an urgent problem that needs to be solved. Summary of the Invention

[0005] This invention provides a multi-functional assisted parking system that can add software functions without increasing hardware resources, thereby reducing the pressure on passenger space layout and maximizing the utilization of software and hardware resources.

[0006] According to one aspect of the present invention, a multi-functional assisted parking system is provided, comprising: a cockpit domain host, a human-machine interaction unit, and a sensor unit; The cockpit domain host is connected to the human-machine interaction unit. The cockpit domain host includes an automatic parking unit, an image monitoring unit, and a vehicle distance monitoring unit. The image monitoring unit and the vehicle distance monitoring unit are connected to the sensor unit. The image monitoring unit is used to generate image information, and the vehicle distance monitoring unit is used to generate vehicle distance information. The automatic parking unit is connected to the image monitoring unit and the vehicle distance monitoring unit, and the automatic parking unit is used to automatically park based on the image information and the vehicle distance information.

[0007] Optionally, the cockpit domain host also includes a sentry unit, which is connected to the image monitoring unit and the vehicle distance monitoring unit. The sentry unit is used to monitor the vehicle status based on the vehicle distance information. When the vehicle distance information is less than a first set value, the sentry unit generates video data based on the image information.

[0008] Optionally, the sensor unit includes a high-definition camera and an ultrasonic radar, the camera being connected to the image monitoring unit and the ultrasonic radar being connected to the vehicle distance monitoring unit.

[0009] Optionally, the automatic parking unit includes an automatic parking module, an automatic parking exit module, and an emergency obstacle avoidance module. The automatic parking unit realizes the functions of displaying the vehicle parking environment, displaying the parking status, selecting the parking location, and providing usage prompts through the human-computer interaction unit.

[0010] Optionally, it also includes a gateway unit. The cockpit domain host is connected to the vehicle execution module through the gateway unit. The vehicle execution module includes an integrated control mechanism, a braking mechanism, a body control mechanism, a steering control mechanism, and a remote information processing mechanism. The integrated control mechanism is used to control the vehicle to switch gears and obtain vehicle status information. The vehicle status information includes motion status information, steering wheel status information, brake pedal status information, and accelerator pedal status information.

[0011] Optionally, the video monitoring unit is also connected to the vehicle distance monitoring unit and the human-machine interaction unit. When the vehicle distance information reaches a second set value, the video monitoring unit displays the video information, the vehicle distance information, and the warning information through the human-machine interaction unit. The warning information can change its shape according to the vehicle distance information.

[0012] Optionally, the human-machine interaction unit includes a cockpit display screen and an instrument panel, wherein the instrument panel is located on the side of the steering wheel away from the driver's seat and is directly opposite the driver's seat.

[0013] A second aspect of this application provides a multi-functional assisted parking method, including: The cockpit domain host interacts with the user through a human-machine interaction unit. The cockpit domain host acquires vehicle environmental information through a sensor unit. The cockpit domain host includes an automatic parking unit, an image monitoring unit, and a vehicle distance monitoring unit. The image monitoring unit generates image information based on the vehicle environment information acquired by the sensor unit, and the vehicle distance monitoring unit generates vehicle distance information based on the vehicle environment information acquired by the sensor unit. The automatic parking unit automatically parks the vehicle based on the image information and the vehicle distance information.

[0014] A third aspect of this application provides a multi-functional assisted parking device, including the multi-functional assisted parking system described above.

[0015] A fourth aspect of this application provides a vehicle including the multi-functional assisted parking device described above.

[0016] In the technical solution provided by this invention, the multi-functional assisted parking system includes: a cockpit domain host, a human-machine interaction unit, and a sensor unit; the cockpit domain host is connected to the human-machine interaction unit, and the cockpit domain host includes an automatic parking unit, an image monitoring unit, and a vehicle distance monitoring unit; the image monitoring unit and the vehicle distance monitoring unit are connected to the sensor unit, the image monitoring unit is used to generate image information, and the vehicle distance monitoring unit is used to generate vehicle distance information; the automatic parking unit is connected to the image monitoring unit and the vehicle distance monitoring unit, and the automatic parking unit is used to automatically park according to the image information and the vehicle distance information. In this invention, the functions of the automatic parking unit and the image monitoring unit and the distance monitoring unit are integrated and called by the automatic parking unit, thus realizing software integration. Furthermore, this application integrates the functions of the automatic parking unit, the image monitoring unit, and the distance monitoring unit into the cockpit domain host. The cockpit domain host interacts with the user through the human-machine interaction unit and senses vehicle environmental information through the sensor unit, thus realizing hardware function unification. That is, this invention obtains vehicle environmental information through functionally unified hardware and realizes automatic parking and human-machine interaction through the cockpit domain host that integrates multiple functions, thereby improving the integration level of the assisted parking system, reducing the pressure on passenger space layout, and maximizing the utilization of software and hardware resources.

[0017] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This is a structural block diagram of the multi-functional assisted parking system provided in an embodiment of the present invention; Figure 2 This is a schematic diagram of the sensor unit provided in an embodiment of the present invention; Figure 3 This is a structural block diagram of the automatic parking unit provided in an embodiment of the present invention. Detailed Implementation

[0020] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0021] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, any variations of the terms "comprising" and "having" are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0022] To address the aforementioned technical problems, the embodiments of the present invention provide the following technical solutions: Figure 1 This is a system block diagram of the multi-functional assisted parking system provided in an embodiment of the present invention, with reference to... Figure 1 This invention provides a multi-functional assisted parking system comprising: a cockpit domain host 1, a human-machine interaction unit 2, and a sensor unit 3; the cockpit domain host 1 is connected to the human-machine interaction unit 2, and the cockpit domain host 1 includes an Automated Parking Assist (APA) unit 11, an Around View Monitor (AVM) unit 13, and a Parking Distance Control (PDC) unit 14; the Around View Monitor (AVM) unit 13 and the Parking Distance Control (PDC) unit 14 are connected to the sensor unit 3, the Around View Monitor (AVM) unit 13 is used to generate image information, and the Parking Distance Control (PDC) unit 14 is used to generate vehicle distance information; the Automated Parking Assist (APA) unit 11 is connected to the Around View Monitor (AVM) unit 13 and the Parking Distance Control (PDC) unit 14, and the Automated Parking Assist (APA) unit 11 is used to automatically park based on the image information and the vehicle distance information.

[0023] Specifically, in this embodiment, the cockpit domain host 1 is connected to the human-machine interaction unit 2, which enables manual interaction with the user. The cockpit domain host 1 includes an automatic parking unit 11, an image monitoring unit 13, and a vehicle distance monitoring unit 14. The image monitoring unit 13 and the vehicle distance monitoring unit 14 are connected to the sensor unit 3. The sensor unit 3 can acquire external vehicle environment information and then convert the vehicle environment information into vehicle environment electrical signals. The image monitoring unit 13 converts the vehicle environment electrical signals into image information, and the vehicle distance monitoring unit 14 converts the vehicle environment signals into vehicle distance information. The automatic parking unit 11 analyzes the external environment of the vehicle through the image information to obtain vehicle environment data. The automatic parking unit 11 also analyzes the position of obstacles based on the vehicle distance information and constructs a parking scenario based on the vehicle environment data. Then, the automatic parking unit 11 performs automatic parking according to the constructed parking scenario.

[0024] As can be seen, in this embodiment of the invention, the automatic parking unit 11 integrates and calls the functions of the image monitoring unit 13 and the vehicle distance monitoring unit 14, thus achieving software integration. Furthermore, this application integrates the functions of the automatic parking unit 11, the image monitoring unit 13, and the vehicle distance monitoring unit 14 into the cockpit domain host 1. The cockpit domain host 1 interacts with the user through the human-machine interaction unit 2 and senses vehicle environmental information through the sensor unit 3, thus achieving unified hardware functions. That is, this invention obtains vehicle environmental information through unified hardware and realizes automatic parking and human-machine interaction through the cockpit domain host 1 that integrates multiple functions, thereby improving the integration level of the assisted parking system, reducing the pressure on passenger space layout, and maximizing the utilization of software and hardware resources.

[0025] Continue to refer to Figure 1 In order to understand the vehicle status in a timely manner, the cockpit domain host 1 in this embodiment also includes a sentry unit 12. The sentry unit 12 is connected to the image monitoring unit 13 and the vehicle distance monitoring unit 14. The sentry unit 12 is used to monitor the vehicle status according to the vehicle distance information. When the vehicle distance information is less than a first set value, the sentry unit 12 generates video data according to the image information.

[0026] Specifically, in this embodiment, the cockpit domain host 1 also includes a sentry unit 12. The sentry unit 12 is used to monitor the vehicle status. For example, after parking, the user leaves the vehicle, which is in an unattended state. If the vehicle is scratched, collided, or stolen, the vehicle status cannot be obtained in time. Even if the user discovers a problem with the vehicle, the accident scene is difficult to reconstruct, resulting in damage to the vehicle, but facing the awkward situation of difficulty in tracing and protecting rights. The sentry unit 12 is connected to the image monitoring unit 13 and the vehicle distance monitoring unit 14. After the user leaves the vehicle, the sentry unit 12 can be automatically started or manually started by the user. Those skilled in the art can choose according to the actual use scenario. After the sentry unit 12 starts working, it continuously monitors the vehicle's surroundings through the vehicle distance monitoring unit 14. The sentry unit 12 determines whether the vehicle is damaged by observing the distance to obstacles. Specifically, it obtains vehicle distance information in real time through the vehicle distance monitoring unit 14 and compares the distance information with a first preset value. When the distance information is less than the first preset value, it determines that the vehicle is at risk of being touched or damaged, or that the vehicle's privacy is being violated. The sentry unit 12 obtains image information through the image monitoring unit 13 and generates video data based on the image information, which is then stored locally. When the cockpit domain host 1 can remotely connect to the user terminal, the sentry unit 12 will also send alarm information and video data to the user terminal. The first preset value can be adjusted according to the parking environment. For example, when parking in an environment with dense vehicles or people, the first preset value can be reduced accordingly. If parking in a relatively open environment, the first preset value can be increased accordingly.

[0027] In this embodiment, the cockpit domain host 1 integrates four main parking assistance units: AVM unit 13, PDC unit 14, APA unit 11, and sentry unit 12, providing complete parking functionality from a user's perspective. From the moment a user enters the parking lot to the moment they leave, this parking assistance system can replace the user in parking and monitoring the vehicle, achieving a complete closed-loop vehicle usage experience. In scenarios where a user needs to park and leave the vehicle to conduct business at their destination, the system can meet parking needs from vehicle entry to vehicle exit monitoring and then to vehicle exit, providing parking convenience while ensuring the vehicle remains under constant monitoring, thus guaranteeing vehicle safety after the user leaves the vehicle.

[0028] Figure 2 This is a schematic diagram of the structure of the sensor unit 3 provided in an embodiment of the present invention, for reference. Figure 2 In this embodiment, the sensor unit 3 includes a high-definition camera 31 and an ultrasonic radar 32. The high-definition camera 31 is connected to the image monitoring unit 13, and the ultrasonic radar 32 is connected to the vehicle distance monitoring unit 14.

[0029] Specifically, in this embodiment, the sensor unit 3 includes a high-definition camera 31 and an ultrasonic radar 32. The high-definition camera 31 is used to capture images of the vehicle's external environment and then transmit the images to the image monitoring unit 13. The image monitoring unit 13 generates image information based on the images of the vehicle's external environment. The ultrasonic radar 32 is used to measure the distance between the vehicle and obstacles in the external environment. The vehicle distance monitoring unit 14 generates vehicle distance information based on the distance measured by the ultrasonic radar 32.

[0030] In this embodiment, the cockpit domain host 1 and the high-definition camera 31 are connected via a coaxial cable. The coaxial cable connecting the high-definition camera 31 and the cockpit domain host 1 is a four-in-one integrated cable harness, with a single interface on the cockpit domain host 1 end. The cable harness transmits video data, trigger, power, reset, status, and diagnostic signals. The cockpit domain host 1 is connected to the ultrasonic probe and the human-machine interface unit 2 via a twisted-pair shielded cable. The twisted-pair shielded cable connecting the ultrasonic radar 32 and the cockpit domain host 1 is a fourteen-in-one cable harness, with a single interface on the cockpit domain host 1 end. The cable harness transmits echo data, trigger, power, status, and diagnostic signals. The calibration extrinsic parameters of the high-definition camera 31 and the ultrasonic probe are stored in the APA unit 11.

[0031] Four high-definition cameras 31 are installed, one in the middle of the front bumper and the other in the rear bumper, and on the fixed structure of the left and right side mirrors. These cameras monitor the vehicle's surroundings. All four cameras are uniformly configured, with a horizontal field of view greater than 190 degrees and a vertical field of view greater than 150 degrees, achieving 360-degree monitoring. The monitoring depth ranges from 0.2 meters to infinity. The cameras capture images of the external environment, including but not limited to pedestrians, parking lines, vehicles, limit switches, and pillars. Each camera has built-in firmware that allows configuration of image quality parameters such as timing, frame rate, sharpness, brightness, color, and noise. Each camera also has built-in memory, including but not limited to Flash and EEPROM, which can store data such as camera intrinsic parameters (excluding the camera itself).

[0032] The system comprises 14 ultrasonic radars 32. Eight are evenly distributed and installed on the front and rear bumpers, four are located near the front, rear, left, and right wheels, and two are installed on the left and right B-pillars. All 14 ultrasonic radars 32 have a uniform configuration, a horizontal field of view greater than 120 degrees, a vertical field of view greater than 60 degrees, and a monitoring range of up to 5 meters. The four front / rear ultrasonic radars 32 detect the distance and direction of obstacles in front and behind, while the three left / right ultrasonic radars 32 detect the distance and direction of obstacles to the left and right. The ultrasonic radars 32 actively detect the distance to environmental obstacles using electromagnetic waves and use multi-probe fusion to detect the direction of obstacles. The ultrasonic radars 32 are integrated transceivers with a unified ultrasonic frequency (e.g., but not limited to 54kHz). When multiple ultrasonic radars 32 operate simultaneously, those installed nearby operate in a time-sharing manner to facilitate identification of the ultrasonic emission source and avoid affecting distance and direction calculations. The ultrasonic radars 32 have built-in firmware that allows configuration of ultrasonic frequency, transceiver mode, and operating sequence.

[0033] Figure 3 This is a structural block diagram of the automatic parking unit 11 provided in an embodiment of the present invention, with reference to... Figure 3 The automatic parking unit 11 includes an automatic parking module, an automatic parking exit module, and an emergency obstacle avoidance module. The automatic parking unit 11 realizes the functions of displaying the vehicle parking environment, displaying the parking status, selecting the parking location, and providing usage prompts through the human-computer interaction unit 2.

[0034] Specifically, in this embodiment, the automatic parking unit 11 includes an automatic parking module, an automatic parking exit module, and an emergency obstacle avoidance module. The automatic parking module can park the car in place of the user after the user enters the parking lot. The automatic parking exit module can park the car in place of the user before the user leaves the parking lot. The emergency obstacle avoidance module can detect the distance to obstacles in real time using ultrasonic radar 32. If a pedestrian or other person actively approaches the obstacle or the vehicle approaches the obstacle and there is an imminent risk of collision during the parking process, the vehicle will be controlled to stop, thus avoiding safety issues such as collision accidents.

[0035] To enable users to intuitively observe the parking process, the automatic parking unit 11 can display the vehicle parking environment, parking status, parking location selection, and usage prompts through the human-machine interaction unit 2. The vehicle parking environment display function shows the surrounding environment of the vehicle, allowing users to understand the parking process more intuitively. This function acquires image information of the surrounding environment through the image monitoring unit 13 and then displays it through the human-machine interaction unit 2. The parking status display function shows the current parking status through the human-machine interaction unit 2. The parking location selection function displays currently available parking locations through the human-machine interaction unit 2. After the user selects a parking location through the human-machine interaction unit 2, the automatic parking unit 11 will park the vehicle according to the selected location. The usage prompts function provides the user with the operating steps of the automatic parking unit 11, facilitating quick and easy use.

[0036] Continue to refer to Figure 1 In this embodiment, the multi-functional parking assistance system also includes a gateway unit. The cockpit domain host 1 is connected to the vehicle execution module through the gateway unit. The vehicle execution module includes an integrated control mechanism, a braking mechanism, a body control mechanism, a steering control mechanism, and a remote information processing mechanism. The integrated control mechanism is used to control the vehicle to switch gears and obtain vehicle status information. The vehicle status information includes motion status information, steering wheel status information, brake pedal status information, and accelerator pedal status information.

[0037] Specifically, in this embodiment, the multi-functional parking assistance system also includes a gateway unit. The cockpit domain host 1 is connected to the vehicle execution module through the gateway unit. The cockpit domain host 1 and the vehicle execution module interact with each other via the gateway unit based on CAN, CANFD, or ETH protocols. CAN is a serial communication protocol used for real-time applications, CANFD is an enhanced version of CAN with higher data transmission rates and larger data packet sizes, and ETH is an Ethernet protocol. This embodiment does not limit the specific protocol used for signal interaction; one or more of CAN, CANFD, or ETH can be used, and the choice can be made according to actual needs.

[0038] In this embodiment, the vehicle execution module includes an integrated control mechanism, a braking mechanism, a body control mechanism, a steering control mechanism, and a telematics processing mechanism. The gateway unit is responsible for relaying signals between the cockpit domain host 1, the integrated control mechanism, the braking mechanism, the body control mechanism, the steering control mechanism, and the telematics processing mechanism. Different mechanisms are configured with unique IDs, and the gateway unit transmits signals to the corresponding mechanism by identifying the ID number of the signal receiver. The integrated control mechanism is used to control the vehicle's gear shifting and to acquire vehicle status information, including motion status information, steering wheel status information, brake pedal status information, and accelerator pedal status information. The integrated control mechanism is responsible for controlling the vehicle's longitudinal movements, such as wheel torque and gear shifting (including but not limited to D / R / P), and for real-time verification of vehicle movement, steering wheel, brake pedal, and accelerator pedal status and data; the braking mechanism is responsible for controlling the vehicle to stop; the steering control mechanism is responsible for the vehicle's lateral movements, such as wheel angle; the body control mechanism is responsible for controlling the operation of the lights and other components, and for detecting signals from the doors, front and rear hoods, lights, and driver's seatbelt; the remote information processing mechanism transmits vehicle and mobile APP signals via 4G / 5G networks, enabling users to remotely control the vehicle's cockpit domain host 1 and other components.

[0039] Furthermore, in this embodiment, the image monitoring unit 13 is also connected to the vehicle distance monitoring unit 14 and the human-computer interaction unit 2. When the vehicle distance information reaches the second set value, the image monitoring unit 13 displays the image information, the vehicle distance information and the warning information through the human-computer interaction unit 2. The warning information can change its shape according to the vehicle distance information.

[0040] Specifically, the image monitoring unit 13, through configuring the power supply and operating sequence of the high-definition cameras 31 and combining the built-in firmware configuration, uses four high-definition cameras 31 (front, rear, left, and right) to capture environmental images and transmit them to the cockpit domain host 1. The AVM unit 13 calibrates and merges the images from each high-definition camera 31 to form a top-down view, which, together with multiple views, forms the AVM unit 13 interactive screen, which is then transmitted to the human-machine interface unit 2 for display. The AVM unit 13 interactive screen includes a top-down view and multiple views. The top-down view allows the user to directly view the surroundings of the vehicle from a bird's-eye perspective while driving, and the user can switch to multiple views to view the single-camera views as needed. This "electronic eye" transmits images in real time, replacing the human eye's multiple observations of the vehicle's environment through the windshield, left and right exterior rearview mirrors, and interior rearview mirror. The image is clear and stable, greatly reducing driver fatigue and concentrating driving attention. If the high-definition cameras 31 malfunction and cannot function properly, the AVM unit 13 can transmit signals to the instrument panel to display sensor fault alarm sounds and sensor fault visual warnings. The audible alarm for sensor malfunctions is the same for both the HD camera 31 and the ultrasonic radar 32, while the visual alerts for sensor malfunctions are differentiated by icons for both. This allows users to quickly perceive a malfunction through sound when their vision is obstructed while driving, guiding them to switch back to visual inspection to identify the specific faulty component and thus avoid using the corresponding functions.

[0041] During the operation of AVM unit 13, PDC unit 14 detects the distance between obstacles and the vehicle in real time. When an obstacle appears near the vehicle and the distance reaches the threshold of PDC unit 14, AVM unit 13 obtains the distance and orientation data of the obstacle in real time through PDC unit 14, integrates it into the overhead view, adds a warning line (not limited to lines or other methods) in the corresponding position of the vehicle, and displays the distance data. In addition, the multi-view switches to the single-side view with the closest position to the obstacle and displays the warning line in the corresponding position of the screen. If the obstacle distance has multiple thresholds, the screen interaction of PDC unit 14 can be visually distinguished by different colors (or other methods).

[0042] The AVM unit 13 operates automatically when the APA unit 11 is enabled. The AVM unit 13 has flexible usage scenarios. When the APA unit 11 is not enabled, it can be activated via the human-machine interface unit 2 when the vehicle is traveling at low speeds, or it can be automatically activated when the vehicle shifts into reverse (R) gear, regardless of speed. The AVM unit 13's interactive screen displays the rear view by default. During reversing, due to limited visibility, activating the AVM unit 13 in reverse (R) gear provides real-time images of the vehicle body and rear, which, combined with the accurate distance information provided by the PDC unit 14, enriches the information about the rear of the vehicle and further enhances driving safety.

[0043] In this embodiment, the PDC unit 14 is configured with power supplies and operating timing for 14 ultrasonic probes. Combined with the built-in firmware configuration, each ultrasonic probe emits ultrasonic waves into the environment. Upon encountering an obstacle, the waves are reflected back to the probe, which immediately converts the echoes into electrical signals and transmits them to the cockpit domain host 1. The host calculates the distance based on the transmission and reception times, and fuses the data from multiple probes to fit the orientation. The 14 ultrasonic probes are respectively installed on the front and rear bumpers, left and right wheel sides, and B-pillars of the vehicle, ensuring that obstacles appearing around the vehicle can be detected. The PDC unit 14 determines whether the distance between the obstacle and the vehicle reaches a threshold. If it does, there is a risk of collision, and an alarm signal is immediately sent to the instrument panel, instantly displaying an alarm tone from the PDC unit 14. This alerts the user to obstacles around the vehicle, prompting them to adjust their driving path and speed. The use of sound to deliver the warning reduces visual distraction, allowing the user to focus on the driving environment. The obstacle distance threshold can be set to multiple levels (close / near / very close, etc.) according to the warning level. Simultaneously, the alarm tone interaction information from the PDC unit 14 can be designed to match this, allowing users to differentiate the distance of obstacles based on the alarm tone, thus increasing the functionality. If the ultrasonic radar 32 malfunctions and cannot work properly, the PDC unit 14 transmits a signal to the instrument panel to display the ultrasonic radar 32 fault alarm tone interaction and sensor fault screen warning. The ultrasonic radar 32 fault alarm tone interaction and the PDC unit 14 alarm tone interaction are different, which makes it easy for users to distinguish the meaning of the signal and take corresponding countermeasures.

[0044] In this embodiment, the PDC unit 14 is automatically activated when the AVM unit 13, APA unit 11, and sentry unit 12 are enabled. The PDC unit 14 has flexible usage scenarios. When the APA unit 11 and AVM unit 13 are not enabled, it can be activated via the human-machine interface screen when the vehicle is traveling at low speeds; or it can be automatically activated when the vehicle shifts into reverse (R) gear, regardless of speed. During reversing, due to limited visibility, activating the PDC function in reverse gear can provide real-time information on the distance to obstacles behind the vehicle, supplementing the information behind the vehicle and further ensuring driving safety.

[0045] Furthermore, the human-machine interaction unit 2 includes a cockpit display screen and an instrument panel, with the instrument panel located on the side of the steering wheel away from the driver's seat and facing the driver's seat.

[0046] In this embodiment, the human-machine interface unit 2 includes a cockpit display screen and an instrument panel screen. The instrument panel screen faces the driver's seat. When the APA unit 11 interacts with the user through the human-machine interface unit 2, the cockpit display screen simultaneously displays the interaction screens of the APA unit 11 and the AVM unit 13, arranged horizontally. The interaction screen of the AVM unit 13 includes a top-down view and multiple views, also arranged horizontally. The PDC unit 14 can achieve screen interaction and alarm sound interaction through the human-machine interface unit 2. The interaction screen of the AVM unit 13 is integrated with the screen interaction of the PDC unit 14. In addition, the alarm sound interaction of the PDC unit 14 is achieved through the instrument panel screen, and the fault image warnings from the high-definition camera 31 and the ultrasonic radar 32 are displayed through the instrument panel screen.

[0047] This embodiment also provides a multi-functional assisted parking method, including: a cockpit domain host 1 interacts with a user through a human-machine interaction unit 2; the cockpit domain host 1 acquires vehicle environmental information through a sensor unit 3; the cockpit domain host 1 includes an automatic parking unit 11, an image monitoring unit 13, and a vehicle distance monitoring unit 14; the image monitoring unit 13 generates image information based on the vehicle environmental information acquired by the sensor unit 3; the vehicle distance monitoring unit 14 generates vehicle distance information based on the vehicle environmental information acquired by the sensor unit 3; and the automatic parking unit 11 automatically parks based on the image information and the vehicle distance information.

[0048] This embodiment also provides a multi-functional assisted parking device, including the multi-functional assisted parking system described above.

[0049] This embodiment also provides a vehicle that includes the multi-functional auxiliary parking device described above.

[0050] To better illustrate the working principle and workflow of the multi-functional assisted parking system in this application, the present invention provides a specific example of a multi-functional assisted parking system: The automatic parking unit 11 calls upon the image monitoring unit 13 and the vehicle distance monitoring unit 14 to provide image and vehicle distance information as environmental data input for the internal algorithm. Simultaneously, it normally implements the human-machine interaction functions of the AVM unit 13 and the PDC unit 14. The automatic parking module and automatic parking exit module support both front-end and rear-end selection methods. They support various parking space options, such as parallel parking, perpendicular parking, angled parking, marked parking, and space parking. The emergency obstacle avoidance module, through the PDC unit 14, determines that an obstacle is too close and poses a collision risk, and then immediately brakes the vehicle. The APA unit 11 displays the vehicle's parking environment, parking status, parking selection, and usage prompts through the human-machine interaction unit 2.

[0051] The automatic parking module and automatic parking exit module include functions such as 3D scene reconstruction, free space fitting, parking space recognition, path planning, and vehicle control fusion. Each sub-function is implemented in sequence or in parallel to realize vehicle parking and exit.

[0052] In the user parking and parking exit scenarios, the user enters the APA unit 11 through the human-computer interaction unit 2. The APA unit 11 calls the AVM unit 13 and the PDC unit 14. The high-definition camera 31 begins to collect driving images, and the ultrasonic radar 32 begins to detect the location of obstacles. After the APA unit 11 starts working, it continuously records the surrounding environment during the vehicle's movement. The 3D scene reconstruction function reconstructs the real 3D scene based on the data obtained by the high-definition camera 31 and the ultrasonic radar 32. It also calculates the location of obstacles based on the data information obtained by the ultrasonic radar 32, fits the shape and characteristics of obstacles based on the image information obtained by the high-definition camera 31, determines the type of obstacle, and replaces environmental vehicles, pedestrians, and non-living obstacles with cartoon model rendering.

[0053] The free space fitting function, based on the reconstructed real-world 3D scene, fits a path with no obstacles and sufficient free space to accommodate a vehicle, thus facilitating the identification of suitable parking spaces for vehicles to enter or exit. For marked parking spaces, the free space fitting function can extract parking space lines from 31 high-definition camera images to reconstruct the parking space. The path planning function, based on the calculated 3D environment and the parking space positions, fits the feasibility of a path for a vehicle to park from its current position into the corresponding parking space, filtering out actual available parking spaces, parking postures, or parking exit directions, avoiding obstacles such as pillars and cones that obstruct the path.

[0054] Meanwhile, the cockpit domain host 1 also retrieves relevant vehicle status signals from the body control mechanism in real time, including signals from the doors, front and rear hoods, lights, and driver's seatbelt. The vehicle status, 3D scene, and parking / exit function selection are all directly transmitted to the human-machine interface unit 2 in rendered form for display, allowing users to understand the parking environment and parking space selection. Users select their desired parking space or parking direction through the screen displayed on the human-machine interface unit 2, activating the parking / exit function, and the vehicle's estimated parking path is displayed in real time.

[0055] On the other hand, the integrated vehicle control function determines the vehicle's real-time steering angle requirements based on the path planning results and routes them to the steering control mechanism through the gateway; it also determines the real-time forward acceleration requirements and gear requirements and routes them to the integrated control mechanism to control the vehicle to switch gears, turn, move forward and backward, and perform other dynamic behaviors in a timely manner, so that the vehicle can reach the predetermined parking space or parking position according to the predetermined path.

[0056] On the human-machine interaction unit 2, the interactive screens of APA unit 11 and AVM unit 13 are distributed on the left and right of the cockpit display screen, displaying the virtual environment and real environment of the vehicle body in real time. This allows users to observe the surrounding environment in real time, and also allows users to observe the failure of the virtual environment of APA unit 11 and the matching of the real environment, adding a safety guarantee for machine parking. If there is any risk, the user can intervene and interrupt at any time.

[0057] During automatic parking, if an obstacle is encountered and the distance reaches the set threshold of the PDC unit 14, the APA unit 11 obtains the obstacle's location and distance information in real time through the PDC unit 14. Warning lines and distance data are then displayed on the APA unit 11's interactive screen, showing the vehicle's obstacle distance status in real time. This ensures the user's attention is focused on the APA unit 11's interactive screen while simultaneously obtaining comprehensive vehicle parking information. Simultaneously, the APA unit 11 calculates whether the route remains applicable. If not, it re-plans. If no route is available or a pedestrian or other dynamic obstacle approaches the vehicle at extremely close range with a risk of collision, the APA unit 11 issues a braking command, which is transmitted to the braking mechanism via the gateway to stop the vehicle. The APA unit 11's interactive screen also displays a text message indicating a collision risk, and the APA unit 11 exits. The user then needs to take over the vehicle and exit the APA unit 11.

[0058] In the integrated vehicle control function, after the APA unit 11 calculates the difference between the current parking state and the expected state and confirms the match, it issues a braking command and transmits it to the braking mechanism through the gateway to stop the vehicle. It also issues a command to switch to P gear and transmits it to the integrated control mechanism through the gateway to achieve the switch. Then, the APA interactive interface prompts that the APA unit 11 has completed automatic parking and then exits the APA unit 11. If there is no match, the three-dimensional scene reconstruction, free space fitting, parking space recognition, route planning, and integrated vehicle control are performed again.

[0059] This invention comprehensively considers the diversity of parking environments, safety, and user experience to provide diversified parking functions. The AVM unit 13 and PDC unit 14 can assist users in autonomous parking, while the APA unit 11 can park under user monitoring, improving the selectivity of parking functions. The AVM unit 13 and PDC unit 14 capture environmental images and obstacle distances through a high-definition camera 31 and ultrasonic radar 32, providing users and parking functions with realistic surrounding environment and distance information. Furthermore, through different views and alarm sounds, they extend and enhance user perception. In complex and narrow driving environments, they can more accurately provide users with the posture and distance of the vehicle body and obstacles, assisting user operation and improving user control of the environment. The APA unit 11 integrates parking entry, parking exit, and emergency obstacle avoidance functions. The APA unit 11 can interact with the user through the human-machine interaction unit 2. The parking entry and exit functions calculate and identify obstacles and parking areas through 3D scene reconstruction, free space fitting, parking space recognition, route planning, and vehicle fusion control. The system constructs a parking environment and analyzes the feasibility of parking paths, supporting various types of parking spaces such as parallel, perpendicular, angled, marked, and open spaces, as well as parking postures such as the vehicle's front or the parking space. It has strong environmental adaptability and can solve the problem of difficult parking in different parking environments. The emergency obstacle avoidance function uses ultrasonic sensors to detect the distance to obstacles in real time. If pedestrians or other vehicles actively approach or the vehicle approaches an obstacle and there is an imminent risk of collision during the parking process, the system will control the vehicle to stop to avoid collision accidents and other safety issues. The AVM unit 13, PDC unit 14, APA unit 11, and Sentinel unit 12 display the parking and environmental conditions through the cockpit display screen or mobile APP, and report the vehicle status to the user through text or voice prompts, and conduct real-time information interaction to ensure user control and monitoring of various functions.

[0060] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and this is not limited herein.

[0061] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A multi-functional assisted parking system, characterized in that, include: Cockpit domain main unit, human-machine interface unit, sensor unit; The cockpit domain host is connected to the human-machine interaction unit. The cockpit domain host includes an automatic parking unit, an image monitoring unit, and a vehicle distance monitoring unit. The image monitoring unit and the vehicle distance monitoring unit are connected to the sensor unit. The image monitoring unit is used to generate image information, and the vehicle distance monitoring unit is used to generate vehicle distance information. The automatic parking unit is connected to the image monitoring unit and the vehicle distance monitoring unit, and the automatic parking unit is used to automatically park based on the image information and the vehicle distance information.

2. The multi-functional assisted parking system according to claim 1, characterized in that, The cockpit domain host also includes a sentry unit, which is connected to the image monitoring unit and the vehicle distance monitoring unit. The sentry unit is used to monitor the vehicle status based on the vehicle distance information. When the vehicle distance information is less than a first set value, the sentry unit generates video data based on the image information.

3. The multi-functional assisted parking system according to claim 1, characterized in that, The sensor unit includes a high-definition camera and an ultrasonic radar. The high-definition camera is connected to the image monitoring unit, and the ultrasonic radar is connected to the vehicle distance monitoring unit.

4. The multi-functional assisted parking system according to claim 3, characterized in that, The automatic parking unit includes an automatic parking module, an automatic parking exit module, and an emergency obstacle avoidance module. The automatic parking unit realizes the functions of displaying the vehicle parking environment, displaying the parking status, selecting the parking location, and providing usage prompts through the human-computer interaction unit.

5. The multi-functional assisted parking system according to claim 1, characterized in that, It also includes a gateway unit, through which the cockpit domain host is connected to the vehicle execution module. The vehicle execution module includes an integrated control mechanism, a braking mechanism, a body control mechanism, a steering control mechanism, and a remote information processing mechanism. The integrated control mechanism is used to control the vehicle to switch gears and obtain vehicle status information, including motion status information, steering wheel status information, brake pedal status information, and accelerator pedal status information.

6. The multi-functional assisted parking system according to claim 1, characterized in that, The video monitoring unit is also connected to the vehicle distance monitoring unit and the human-machine interaction unit. When the vehicle distance information reaches a second set value, the video monitoring unit displays the video information, the vehicle distance information and the warning information through the human-machine interaction unit. The warning information can change its shape according to the vehicle distance information.

7. The multi-functional assisted parking system according to claim 1, characterized in that, The human-machine interaction unit includes a cockpit display screen and an instrument panel. The instrument panel is located on the side of the steering wheel away from the driver's seat and is directly opposite the driver's seat.

8. A multi-functional assisted parking method, characterized in that, include: The cockpit domain host interacts with the user through a human-machine interaction unit. The cockpit domain host acquires vehicle environmental information through a sensor unit. The cockpit domain host includes an automatic parking unit, an image monitoring unit, and a vehicle distance monitoring unit. The image monitoring unit generates image information based on the vehicle environment information acquired by the sensor unit, and the vehicle distance monitoring unit generates vehicle distance information based on the vehicle environment information acquired by the sensor unit. The automatic parking unit automatically parks the vehicle based on the image information and the vehicle distance information.

9. A multi-functional auxiliary parking device, characterized in that, Includes the multi-functional assisted parking system as described in claims 1-7.

10. A vehicle, characterized in that, Includes the multi-functional assisted parking device as described in claim 9.

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