27 results about "Parallel parking" patented technology

An automatic parking control method and apparatus, and a device, a storage medium and a vehicle. The method comprises: S110, when a target vehicle is in a parallel parking scenario, on the basis of the position of a target parking space relative to the target vehicle, determining a target position in the target parking space, which target position corresponds to a first wheel of the target vehicle; S120, on the basis of the target position and an initial position of the first wheel, controlling the target vehicle to travel along a planned trajectory; and S130, if the first wheel travels to the target position, on the basis of a heading angle of the target vehicle relative to the target parking space, controlling the target vehicle to rotate by taking the first wheel as a circle center, so as to complete parking. In the method, by means of the steering adjustment of front and rear wheels, a smaller turning radius is realized, so as to realize the solution of first controlling a wheel to reach a target position and then controlling the other wheels to rotate around the wheel which serves as a fixed-point circle center, so as to enter a parking space, thereby improving the automatic parking effect.

The application belongs to the technical field of automatic parking, and particularly relates to a visual parking space detection method. A marking point detection network structure adopted by the application comprises two parallel branches. In the first branch, in addition to the prediction of the position offset and confidence of the marking point, the angle prediction of the parking space edge line corresponding to the marking point is added. In the second branch, a parking space type classification branch is added, and the parking space is classified into three types, i.e. a vertical parking space, a parallel parking space and an inclined parking space. The post-processing derives more accurate parking space positions and orientations according to the model prediction of the paired marking points, the type of the parking space corresponding to each marking point in the paired marking points and the angle of the corresponding edge line. The application adds more constraints to the output results, so that the noise in the detection results can be significantly reduced, and the output parking space is more accurate and reasonable.

Methods for assisting the driver of a motor vehicle during a parking maneuver in parallel parking spaces, comprising the following steps: a) sensory measurement of a found parking space, b) Decision based on the survey data determined in step a) and on the vehicle data as to whether the parking space is suitable for the vehicle to park, c) Calculation of a parking lane using a lane planning algorithm, d) Start of a parking maneuver taking into account the parking target path, e) Checking the vehicle's yaw angle when the parking train stops, f) Termination of the parking maneuver if the yaw angle is less than a predetermined limit, g) Starting another parking maneuver in a predetermined direction of travel (forward or backward) with maximum steering angle to the right or left if the yaw angle is greater than the predetermined limit, h) rechecking the yaw angle when the next parking maneuver stops, i) Termination of the parking maneuver when the yaw angle is less than the specified limit, j) Starting another parking maneuver if the yaw angle is greater than the specified limit, wherein the direction of travel (forward or backward) and the direction (right or left) of the maximum steering angle in this parking maneuver are opposite to the parking maneuver in step g), k) rechecking the yaw angle when the next parking maneuver stops, I) Termination of the parking maneuver when the yaw angle is less than the specified limit, m) Repeat the steps from g) if the yaw angle is greater than the specified limit, characterized by the further step: n) that when a parking train stops, a signal is generated, whereupon the yaw angle check and the further steps are initiated.

The invention relates to an all-wheel steering vehicle parallel parking path planning method for a narrow parking space. According to vehicle parameters and the parallel parking space size and road information detected by a sensor, a parallel parking scene of the all-wheel steering vehicle is established, initial parking point information of vehicle positioning is input, a designed algorithm is executed, and an existing safe parking path is detected in real time. Distance information is sampled in real time to generate a series of parking paths, the paths are dispersed, road constraints and vehicle dynamics constraints needing to be met in the parking process are defined, a path evaluation function is designed, the paths meeting the constraints are evaluated, and the paths are optimized. According to the method, the optimal design of the parallel parking path of the multi-section type multi-steering mode vehicle is completed, the more flexible parking path design of the all-wheel steering vehicle is achieved, the parking space occupied in the parking process is reduced, and the parking efficiency is improved.

The invention provides a parallel parking path planning method and device in a complex parking scene, equipment and a storage medium, and relates to the technical field of automatic parking. The method comprises the steps of defining three complex parking scenes of narrow parking spaces, limited channels and existence of obstacles, and establishing a collision detection model of a simplified vehicle based on a vector fork multiplication method to ensure that no collision exists in the parking process; a sampling space is divided step by step, an intelligent probability map guidance algorithm is constructed based on repulsive force bias, a prior path and random sampling to guide a sampling strategy, path expansion meeting vehicle kinematics constraints is realized by adopting a cost-improved Reeds-Shepp curve, the dynamic step length is self-adapted, the expansion efficiency is improved, and the method has the advantages of being simple in structure and convenient to operate. And smooth optimization of the path is realized through pruning and a cubic B-spline curve. According to the method, by obtaining parking environment information, a safe, collision-free and easy-to-track-control path is quickly planned, so that autonomous parking of the vehicle is realized.

This invention belongs to the technical field of vehicles, and particularly relates to a lateral movement device and a vehicle. By incorporating shock absorbers and hydraulic cylinders, the device can simultaneously raise the vehicle and move the wheels in the width direction of the vehicle. Lateral movement is achieved through the lateral movement of each wheel. Thus, when parallel parking, simply park the vehicle parallel to the parking space and then use the lateral movement device to complete the parallel parking maneuver, significantly reducing the difficulty of parallel parking. Compared to traditional vehicles, vehicles equipped with the lateral movement device can directly achieve lateral movement without repeatedly reversing or adjusting direction, making operation simple and convenient. Furthermore, the lateral movement device provided by this invention uses a lateral movement mechanism that achieves both vehicle height raising and lateral movement, with both functions sharing a hydraulic supply device, simplifying the structure.

The invention belongs to the technical field of intelligent vehicle automatic parking, and relates to a two-stage optimal parallel parking trajectory planning method based on key frame division. The objective of the invention is to solve the problems of limited parking space, high collision risk, slow optimization convergence and low terminal attitude precision in narrow parking spaces in cities. According to the technical scheme, the method is characterized in that a parking scene model and kinematics constraints are constructed, and according to key frames, the method is divided into a C-shaped garage entering stage (two sections of right-turn arcs, and tail garage entering is ensured) and an S-shaped garage rolling stage (a tubular space S-shaped structure, and reversible displacement attitude adjustment); building a multi-objective optimization model by stages, dispersing by a fourth-order Runge-Kutta method, and converting to nonlinear programming for solving; a local hot start strategy is introduced to improve the convergence speed. The method is mainly used for automatic parking of urban compact parking spaces, and safety, precision and real-time performance are improved.

The invention relates to a method for operating a parking function (28) for a vehicle (1), wherein the vehicle (1) drives past several parking spaces (3). The method includes, for each parking space (3): determining (S1) a space orientation information (21) that describes whether the parking space (3) is intended for parallel or perpendicular parking by applying a space orientation determination algorithm (22); storing (S2) the determined space orientation information (21) in a storage unit (20) of the vehicle (1); and providing (S3) the stored space orientation information (21) to the parking function (28). If no unique space orientation information (21) is determined for at least one of the parking spaces (3), the last stored space orientation information (21) is considered the determined space orientation information (21) for that at least one parking space (3) and is provided to the parking function (28).

A method for externally moving a vehicle includes receiving sensor data from a sensor of the vehicle. The sensor data is indicative that a person outside of the vehicle touched a predetermined area of the windshield of the vehicle. The vehicle is initially parked. The method further includes displaying a user interface on the predetermined area of the windshield in response to determining that the person outside of the vehicle touched the predetermined area of the windshield of the vehicle. Moreover, the method includes receiving an input from the person outside of the windshield through the user interface. The input is indicative of a command to move the vehicle. The method includes commanding the vehicle to move by a predetermined distance in response to receiving the input from the person outside of the vehicle.

The application relates to the technical field of automobile intelligentization, and provides a parallel parking path planning method, which comprises steps S1-S6, that is, through a vehicle sensor, data such as to-be-parked parking space data is perceived, a polynomial function relationship is established according to a vehicle parallel parking path, polynomial coefficient values are obtained according to a first constraint condition, a second constraint condition, a third constraint condition and a fourth constraint condition, and a polynomial function path planning curve is obtained; a hyperbolic tangent tanh function is used to obtain a hyperbolic tangent path planning curve; the polynomial function path planning curve and the hyperbolic tangent path planning curve are fused to obtain a parallel parking path planning curve; and the vehicle is tracked and controlled according to the parallel parking path planning curve to complete vehicle parking operation. The method can solve the problems of discontinuous parking path curvature, poor tracking, complex path structure composition, too many nodes and large fitting path error, guarantees smooth parking path, improves parking efficiency and improves parking effect.

A method for externally moving a vehicle includes receiving sensor data from a sensor of the vehicle. The sensor data is indicative that a person outside of the vehicle touched a predetermined area of the windshield of the vehicle. The vehicle is initially parked. The method further includes displaying a user interface on the predetermined area of the windshield in response to determining that the person outside of the vehicle touched the predetermined area of the windshield of the vehicle. Moreover, the method includes receiving an input from the person outside of the windshield through the user interface. The input is indicative of a command to move the vehicle. The method includes commanding the vehicle to move by a predetermined distance in response to receiving the input from the person outside of the vehicle.

A control device for controlling a display device is mounted on a moving body that moves to a target position specified by a user by automatic steering. The moving body is configured to be capable of perpendicular parking into the target position and parallel parking into the target position. When the perpendicular parking or the parallel parking is performed, the control device causes the display device to display a top view image of the moving body and surroundings, and to display a frame image indicating a place set as the target position superimposed on the top view image. The control device is capable of enlarging and displaying the top view image according to an instruction from the user. The control device makes a display range when the top view image is enlarged and displayed different between when the perpendicular parking is performed and when the parallel parking is performed.

Disclosed herein are system, method, and computer program product embodiments for identification of intention and prediction for parallel parking vehicles. For example, the method includes: obtaining sensor data associated with an environment surrounding an autonomous vehicle; identifying, based on the sensor data, a plurality of static objects in the environment, an open parallel parking location between the plurality of static objects, and a vehicle in the environment that satisfies a parallel parking condition; generating a polygon that extends beyond a side and a rear of the vehicle that satisfies the parallel parking condition; and controlling movement of the autonomous vehicle based on a prediction that the vehicle is intending to parallel park in the open parking location, the prediction that the vehicle is intending to parallel park in the open parking location being determined based on an amount of the open parallel parking location that is contained within the polygon.

This invention relates to a multi-segment parallel parking path planning method for heavy-duty all-wheel steering vehicles. Based on vehicle parameters and parallel parking space dimensions and road information detected by sensors, a parallel parking scenario for the all-wheel steering vehicle is established. The starting parking point information for vehicle positioning is input, and a designed algorithm is executed to detect existing safe parking paths in real time. Specifically, a series of parking paths are generated using a parameter sampling method and discretized. Road constraints and vehicle dynamics constraints that need to be satisfied during parking are defined. A path evaluation function is designed to evaluate and optimize paths that meet the constraints, thus completing the optimized design of parallel parking paths for multi-segment, multi-steering mode vehicles. This achieves more flexible parking path design for heavy-duty all-wheel steering vehicles, reduces parking space occupied during parking, and improves parking efficiency.

A method for providing parallel parking assistance includes generating an augmented video stream including an overhead view video stream, a graphical representation of a host vehicle, and a first arrow indicating an initial positioning of the host vehicle, generating, by a processor, a first control signal indicating a first steering angle in response to receiving a first confirmation signal from a user interface indicating confirmation of the initial positioning of the host vehicle, generating, by the processor, a second control signal indicating a second steering angle in response to a change in yaw reaching a first desired yaw, generating, by the processor, a second arrow indicating a distance between the host vehicle and a curb to be overlaid on the overhead view video stream, and generating, by the processor, a third control signal indicating a third steering angle in response to receiving a second confirmation signal from the user interface indicating confirmation of the distance between the host vehicle and the curb.

The method relates to a method to operate a parking function (28) for a vehicle (1), wherein the vehicle (1) is driving past multiple parking slots (3). The method comprises for each parking slot (3): determining (S1) a slot orientation information (21) describing if the parking slot (3) is intended for parallel or transverse parking by applying a slot orientation determining algorithm (22); storing (S2) the determined slot orientation information (21) in a storage unit (20) of the vehicle (1); and providing (S3) the stored slot orientation information (21) to the parking function (28). If no distinct slot orientation information (21) is determined for at least one of the parking slots (3), the last stored slot orientation information (21) is considered as the determined slot orientation information (21) for this at least one parking slot (3) and provided to the parking function (28).

This invention discloses a method, apparatus, and computer device for planning parking exit paths in parallel parking spaces. The method includes: determining a first turning center on the side of the target lane closest to the starting position of the vehicle's parking exit, based on the vehicle's minimum turning radius and the vehicle's starting position in the parallel parking space; determining the intersection point of the vehicle's front corner position with the first turning center on the long side line of the parallel parking space; obtaining the drivable area for the vehicle to exit from the parallel parking space to the target lane; if the intersection point is not within the drivable area, determining the reversing target position of the vehicle in the parallel parking space; and using the reversing target position as the starting position of the vehicle's parking exit in the parallel parking space, returning to the step of determining the first turning center. This improves the reliability of parking exit path planning in parallel parking spaces through dynamic adjustment strategies.

A vehicular automated parking system includes a plurality of cameras disposed at a vehicle and viewing exterior of the vehicle. When the vehicle is parked in a parking space and a rearward parked vehicle is parked behind the vehicle, the vehicular automated parking system determines a rearward limit of the parking space, which establishes a boundary for stopping the vehicle. The parking space is a parallel parking space that is oriented along a road at which the parking space is located. Based at least in part on processing of image data captured by at least one camera of the plurality of cameras, the vehicular automated parking system controls the vehicle to leave the parking space in a manner that avoids the rearward parked vehicle and / or that avoids contacting a curb along one side of the parking space.

1. The name of the design product: the graphical user interface of the parking display of an electronic device. 2. The use of the design product: an electronic device. 3. The design points of the design product: the graphical user interface. 4. The picture or photo that best shows the design points: design 1 front view. 5. Design 1 is designated as the basic design. 6. The use of the graphical user interface: designs 1-10 are the display and interactive interface of parking, used by the user to view and operate the vehicle parking and parking out. Design 1 is the interactive interface that triggers the obstacle display when the vehicle parks in the parking space, design 2 is the interactive interface that displays the unfastened safety belt during vehicle operation, design 3 is the interactive interface that displays the parking pause during vehicle operation, design 4 is the interactive interface that displays the parking interruption during vehicle operation, design 5 is the interactive interface that displays the unavailable parking space selection during vehicle operation, design 6 is the interactive interface that displays the guide selection direction during vehicle operation, design 7 is the interactive interface that displays the parking pause during vehicle operation, design 8 is the interactive interface that displays the non-switchable parking space during vehicle operation, design 9 is the interactive interface that displays the selection of the switchable parking space during vehicle operation, and design 10 is the interactive interface that displays the selection of the parallel parking space during vehicle operation. The parking or parking out operation can be performed by moving the vehicle or clicking the interface button. 7. The content picture is in the gray area of the interface of designs 1-10.

The invention relates to a segmented parking path planning method and device for parallel parking spaces, electronic equipment and a storage medium. The method comprises the following steps: carrying out path planning on a vehicle from a current position to a target parking space by adopting a mode of fusing graph search and a geometric curve; operating the vehicle to perform parking operation according to the path planning, and evaluating the parking precision of the parking result; and if the parking precision evaluation of the parking result is based on a preset requirement, operating the vehicle to perform parking adjustment based on the in-garage attitude adjustment path planning. According to the method, the advantages of graph search and geometric curves are fully combined, the calculation complexity is reduced, the environmental applicability is enhanced, and meanwhile, the parking precision is improved.

The invention relates to a parallel parking assist system for narrow parking spaces. A method for externally moving a vehicle includes receiving sensor data from a sensor of the vehicle. The sensor data characterizes that a person outside of the vehicle touches a predetermined area of a windshield of the vehicle. The vehicle is initially parked. The method further includes, in response to determining that a person outside of the vehicle touches the predetermined area of the windshield of the vehicle, displaying a user interface on the predetermined area of the windshield. Further, the method includes receiving, via the user interface, an input from a person outside the windshield. The input characterizes a command to move the vehicle. The method includes controlling the vehicle to move a predetermined distance in response to receiving an input from a person outside of the vehicle.

The application provides an intelligent temporary parking method and device, electronic equipment and storage medium, and belongs to the field of low-speed park intelligent parking; the method comprises the following steps: starting an automatic parking function and acquiring obstacle information in a sensing range; judging whether the path of a target vehicle according to a preset parking track to a specified temporary parking space is blocked according to the obstacle information; if yes, obtaining a plurality of parking sampling points according to the current sampling point of the target vehicle through the scatter sampling method, and planning a plurality of parking tracks by using a quintic polynomial curve; selecting one of the parking tracks as a target parking track through a prefabricated performance evaluation model; and selecting the parking spaces corresponding to the other suitable parking tracks as the space required for parallel parking according to the position of the target parking track in the time sequence. Through the application, the temporary parking point can be parked quickly according to the current surrounding environment information of the given temporary parking point, and the path planning for replacing the temporary parking point for re-parking in time.

The invention provides a segmented parallel parking space parking track planning method, and belongs to the technical field of vehicle automatic parking. The method comprises the following steps: firstly, obtaining garage environment information, obstacle information and vehicle state information, constructing an obstacle grid map, and establishing a parking space boundary model under a unified coordinate system; then, according to the relative position of the vehicle and the parking space, the parking condition is judged to be in-garage or out-garage, and a corresponding in-garage planning module or an out-garage planning module is called to generate a first section of track; in in-garage planning, through discretization combination of a parking space boundary safety domain and a vehicle turning radius, kinematics prediction of left-turn and right-turn alternate adjustment is executed, candidate tracks meeting the requirement of reaching a target pose at a time are screened, and finally a final reference track meeting continuous curvature and vehicle driving constraints is output. The method can give consideration to the success rate, real-time performance and track quality of automatic parking planning, and is suitable for a complex parking environment with limited parking spaces and dynamic obstacles.

The invention discloses a swing lifting parking frame which is matched with vertical, inclined and parallel parking spaces and comprises a supporting frame (1), a swing rail component (6), a translation trolley assembly (7), a motion conversion mechanism and a vehicle carrying plate balance mechanism. The motion conversion mechanism can be matched with a sliding groove / positioning groove in the swing rail through a small idler wheel, and translation is converted into rotation of the car carrying plate (20). The car carrying plate balance mechanism comprises a cross shaft seat (13) with a limiting function and a lug plate (15), and the inclination angle of the car carrying plate is controlled in a multiple mode through forward movement of the gravity center of the hanging frame and an adjusting screw (13-7). In the working process, the power assembly drives the swing rail component (6) to swing so as to achieve lifting, the translation trolley assembly (7) drives the vehicle carrying plate to move and rotate, all actions are completed outside a bottom-layer parking space, and basically no influence is caused on the bottom-layer parking space. The device is adaptive to various parking spaces through a fine adjustment structure, has the advantages of simple structure, low cost and safe and reliable operation, and is suitable for storey-adding transformation of the existing parking lot.

The application discloses a parallel parking auxiliary method and system, and belongs to the technical field of automobiles. The method comprises the following steps: when it is detected that a trailer is connected to a vehicle, the parallel parking auxiliary function of the vehicle is closed, and trailer information is acquired; whether to start the trailer parallel parking auxiliary function is selected according to the trailer information; and after the trailer parallel parking auxiliary function is selected to be started, the monitoring range of the blind area of the vehicle is defined according to the trailer information. When the vehicle is connected with the trailer, the parallel parking auxiliary function is switched dynamically, and the problem that the traditional blind area monitoring system is invalid under the state that the vehicle is connected with the trailer is effectively solved.

The application discloses a two-stage parallel parking path planning algorithm considering tracking error accumulation, and comprises the following steps: S1, periodically acquiring vehicle operation data, parking space coordinate information and obstacle coordinate information; S2, performing path search and obstacle avoidance constraint through a Hybrid A* algorithm, and planning an optimal path between a starting point and an ending point of parking in real time; S3, judging a lateral error of the vehicle at a detection point, and if the error exceeds a threshold value, re-planning a parking path in a garage; and S4, forming a complete automatic parking planning path. The application firstly performs path search through a Hybrid A* algorithm in combination with an RS curve, secondly further plans in combination with an environment in the parking space at a planning midpoint, and finally detects a trajectory tracking error of the vehicle by using the detection point, so that the vehicle can be successfully parked.

The application discloses a parallel parking target point position adjustment method and device and a vehicle. The method comprises the following steps: constructing a vehicle bounding box of the vehicle at an initial position of a parking target point according to geometric parameter information of the vehicle and target parking information; determining an outbound edge line of the vehicle according to an outbound direction and the vehicle bounding box; determining a target obstacle located in the vehicle bounding box according to an obstacle position in obstacle information and a position of the vehicle bounding box; determining displacement information of the parking target point according to a type of the target obstacle and a position relationship between the target obstacle and the outbound edge line; and adjusting the parking target point from the initial position to a target position according to the displacement information. The method can reasonably determine the parking target point, improve the matching degree of the parking target point and an actual parking environment, and improve the parking efficiency under the condition of ensuring the safety of parking.