220 results about "Parallel parking" patented technology

A back camera image from a back camera mounted on a rear portion of a vehicle body is displayed on a display mounted on the console inside the vehicle cabin when the vehicle is parallel parking. After the vehicle passes a steering direction reversal point in this state, a corner camera image from a corner camera mounted on a corner portion of a front portion of the vehicle body is displayed on the display when the vehicle nears a vehicle parked in front, or, more specifically, when an angle of the vehicle after it has reached the steering direction reversal point has reached a predetermined value. Guidance images may be overlaid upon the camera images during some or all of the parallel parking maneuver.

A method of guiding a vehicle to a region for initiating a parallel parking maneuver. A region of feasible starting locations for successfully performing a parallel parking maneuver is determined by a processor. A position of the vehicle relative to the region of feasible starting locations is determined. A determination is made whether the vehicle is in a zero heading position. The vehicle is guided along an initial target path by controlling a steering actuator until the vehicle is in a zero heading position relative to the road of travel in response to the vehicle is not in the zero heading position. A planned path is generated that includes two arc-shaped trajectories extending between the vehicle at the zero heading position and a position within the region of feasible starting locations as determined by the processor. The steering actuator is controlled to follow the planned path to the feasible region.

The invention may comprise devices and methods for headfirst vehicle parallel parking using front and / or rear wheel steering systems.

A steering assist apparatus that assists a driver when backing a vehicle in an S-shaped path or parallel parking. The apparatus displays guidance marking on a monitor screen and the driver refers to the guidance marking, which permits the driver to easily back the vehicle to a desired position. The apparatus includes a camera, a monitor, an angle sensor, obstacle sensors, an image processing unit, a controller and a monitor controller. The image processing unit computes the predicted path of the vehicle at the current wheel angle. The monitor shows an image captured by the camera. The image processing unit generates data representing a guidance marking based on the predicted path and superimposes the marking on the monitor screen. The location of the marking on the screen is determined based on the current wheel angle. The marking represents part of the predicted path. Specifically, the marking matches the width of the vehicle. In the monitor screen, a marking is separated from the rear bumper of the vehicle by a distance corresponding to the wheelbase of the vehicle.

A method and a system for assisting a vehicle operator to parallel park a vehicle. The method and system use only a single proximity sensor to detect a suitable parallel parking space and monitor the position of the vehicle when backing into the parallel parking space. Assistance to parallel park the vehicle may be as little as providing indications or warning to a vehicle operator while the vehicle operator backs the vehicle into the parallel parking space, or may be as much as taking complete control of the vehicle away from the vehicle operator, and autonomously parallel parking the vehicle.

A parallel parking assist system and a method for evaluating an area for use as a parking space for a host vehicle, the parallel park assist system comprises a ultra wideband radar sensor disposed in the host vehicle, wherein the radar sensor obtains a measurement data relating to a potential parking space and transmits a data signal representing the measurement data, a processor adapted to receive the transmitted data signal from the sensor, analyze the data signal, and transmit an alert signal in response to the analysis of the data signal, and a user interface adapted to receive the alert signal and provide an alert to the driver of the host vehicle in response to the alert signal, wherein the alert signal represents the suitability of the potential parking space.

The invention discloses an intelligent auxiliary parking method, which comprises the following steps of: planning parking paths in two parts, wherein in-space regulation paths are planned, and then storage paths are planned; and providing a human-computer interaction interface, receiving the intention of a driver, and displaying parking information. An intelligent auxiliary parking system for implementing the method comprises an environment sensing unit, a path planning unit, a driving control unit and a human-computer interface unit, which are in communication contact with one another. A vehicle can be guided into a parking space from any starting position, so that the number of times of pivot steering and changes in forward and backward movement of the vehicle in a parking process can be reduced; and under a parallel parking condition, a proper parking space can be selected according to the maximum permissible number of in-space regulation set by the driver, so that the requirements of the vehicle on the length of a parallel parking space are lowered.

An auto-parking device installed on a vehicle comprises a vehicle status sensing unit for detecting a state of a vehicle, an image acquisition unit for capturing vehicle outside image, a range sensing unit for measuring the space, a processing unit for receiving states of the vehicle from the vehicle status sensing unit, receiving environmental states from the image acquisition unit and range sensing unit, calculating a parking path based on parallel parking or back-in parking and then controlling the vehicle steering, throttle and brake via a driving control unit to automatically park the car into the space as per the planned parking path.

A method is provided for determining a vehicle path for autonomously parallel parking a vehicle in a space between a first object and a second object. A distance is remotely sensed between the first object and the second object. A determination is made whether the distance is sufficient to parallel park the vehicle between. A first position to initiate a parallel parking maneuver is determined. A second position within the available parking space corresponding to an end position of the vehicle path is determined. A first arc shaped trajectory of travel is determined between the first position and an intermediate position, and a second arc shaped trajectory of travel is determined between the second position and the intermediate position. The first arc shaped trajectory is complementary to the second arc shaped trajectory for forming a clothoid which provides a smoothed rearward steering maneuver between the first position to the second position.

A parking mode selection apparatus selects one parking mode among from plural parking modes including at least a perpendicular parking or a parallel parking. The parking mode selection apparatus includes a steer angle detector that detects a steer angle of a steering wheel, an operation detector that detects, based on the steer angle detected by the steer angle detector, a predetermined operation in which the steering wheel is returned to a neutral position after rotated to a right or a left, and a parking mode selector. The parking mode selector selects, when the predetermined operation is detected by the operation detector, a parking mode that coincides with a steered direction to the right or the left of the steer angle detected by the steer angle detector and is associated with said steer angle.

A system for parallel parking a vehicle into a target parking space is provided herein. The system includes a user input device through which one or more parking parameter selections are made. The system also includes a park assist system for automatically steering the vehicle during the execution of a parallel parking maneuver, wherein the parallel parking maneuver is governed by the one or more parking parameter selections.

A parking assist system and method that includes a plurality of ultrasonic wave sensors configured to measure a distance between a host vehicle and an external object and an motor driven power steering controller configured to operate steering of the host vehicle. In addition, a controller is configured to detect a parallel parking space based on distances measured from the plurality of ultrasonic wave sensors and to perform an exit from the parallel parking space while operating a steering angle through cooperative control with the MDPS controller.

The invention discloses a parking stall detection method based on an ultrasonic radar. The method comprises steps that A, the relative distance between a vehicle and a side obstacle can be detected through the ultrasonic radar in a driving process; B, minimum filtering processing on the detected relative distance data can be carried out; C, jump edge detection on the data after filtering processing is carried out; D, the suspected parking stall length is calculated according to the detected jump edge; and E, if the suspected parking stall length is consistent with the parking stall length, the suspected parking stall width is calculated, and obstacle detection can be carried out. Through the method, minimum filtering processing on the detected relative distance data is carried out, in combination with jump edge detection, the parking stall width and the parking stall length are calculated and corrected, accurate detection on parallel parking stalls and perpendicular parking stalls can be carried out in different modes, and the parking stall identification accuracy rate can reach up to 99%. The method can be widely applied to the parking stall detection field.

An auto-parking device installed on a vehicle comprises a vehicle status sensing unit for detecting a state of a vehicle, an image acquisition unit for capturing vehicle outside image, a range sensing unit for measuring the space, a processing unit for receiving states of the vehicle from the vehicle status sensing unit, receiving environmental states from the image acquisition unit and range sensing unit, calculating a parking path based on parallel parking or back-in parking and then controlling the vehicle steering, throttle and brake via a driving control unit to automatically park the car into the space as per the planned parking path.

The invention discloses an automatic parallel parking path planning method based on two sections of second-order Bezier curves. The method comprises the steps of obtaining target parking space information to determine a parking target position and establishing a global coordinate system by taking the parking target position as an original point; constructing a parking trajectory segmentation judgment model to determine the number of planned trajectory segments, planning the end position range of the first section of trajectory, determining the start point, the end point and the control point of each section of planned trajectory, performing path planning by using a second-order Bezier curve, performing monitoring at set intervals, and adjusting the planned trajectory by using a dynamic adjustment planning trajectory method. According to the method, the requirement for the initial pose of the to-be-parked vehicle is lowered, and the environmental adaptability of the path planning methodis improved; the vehicle can be driven into the planned area manually through simple adjustment, so that the cost is reduced, and the method can be applied to medium and low-grade vehicles; control points of parking trajectory planning are easy to determine, a trajectory generation algorithm is simple, and the path curvature is continuous. The correction difficulty of the track error is reduced,and the obstacle avoidance performance and parking efficiency of the vehicle are improved.

A method is provided for controlling a parallel parking of a vehicle. A distance between the first object and the second object is remotely sensed. The distance is compared to a first predetermined distance and a second predetermined distance. An autonomous first steering strategy maneuver is performed for parking the vehicle between the first object and second object if the distance is greater than the first predetermined distance. The first steering strategy maneuver consists of a first predetermined number of steering cycles for parking the vehicle. An autonomous second steering strategy maneuver is performed for parking the vehicle between the first and second object if the distance is between the first predetermined distance and the second predetermined distance. The second steering strategy maneuver consists of a second predetermined number of steering cycles for parking the vehicle where the second is greater than the first predetermined number of steering cycles.

A method is provided for determining a vehicle path for autonomously parallel parking a vehicle in a space between a first object and a second object. A distance is remotely sensed between the first object and the second object. A determination is made whether the distance is sufficient to parallel park the vehicle between. A first position to initiate a parallel parking maneuver is determined. A second position within the available parking space corresponding to an end position of the vehicle path is determined. A first arc shaped trajectory of travel is determined between the first position and an intermediate position, and a second arc shaped trajectory of travel is determined between the second position and the intermediate position. The first arc shaped trajectory is complementary to the second arc shaped trajectory for forming a clothoid which provides a smoothed rearward steering maneuver between the first position to the second position.

The invention discloses a pull type mobile robot parallel parking method. The method comprises the steps of (a) defining an initial configuration and terminal point configuration; (b) setting reference paths as OS, SQ, QG; (c) establishing a dynamitic model under the QG path; (d) establishing a dynamitic model under the SQ path; (e) solving path Path_G, and calculating the reference path Path_G of n curves started from the forward direction of a G point configuration; (f) solving path Path_S, and calculating the reference path Path_S of n curves started from the backward direction of an S point configuration; (g) finding out a tangent or an approximate tangent intersection point Q; (h) determining a parking path; (i) controlling parking, namely, controlling the pull type mobile robot to carry out parking. According to the pull type mobile robot parallel parking method, under the condition that the initial configuration and the terminal point configuration are known, the optimal parking path can be calculated automatically, automatic parking can be achieved under the action of a fuzzy controller, and a theoretical foundation is laid for automatic parallel parking of existing pull type mobile robots.

There is provided a parking guidance method for a vehicle, of displaying a guidance line for guidance of perpendicular, parallel parking in an AVM synthetic image to provide parking guidance. The method includes entering a parking support mode, displaying parking type information in the parking support mode to select a parking type, displaying a parking reference region or a parking reference line with regard to a parking target space in which the vehicle is to be parked depending on the parking type, displaying a parking alignment reference line when the vehicle travels at a relatively low speed and a steering angle thereof is changed by a threshold value or more, and guiding the vehicle to be aligned such that the parking alignment reference line coincides with a parking section line based on the parking reference region or the parking reference line.

A method controls a parallel parking of a vehicle. A distance between the first object and the second object is remotely sensed. The distance is compared to a first predetermined distance and a second predetermined distance. An autonomous first steering strategy maneuver is performed for parking the vehicle between the first object and second object if the distance is greater than the first predetermined distance. The first steering strategy maneuver consists of a first predetermined number of steering cycles for parking the vehicle. An autonomous second steering strategy maneuver is performed for parking the vehicle between the first and second object if the distance is between the first predetermined distance and the second predetermined distance. The second steering strategy maneuver consists of a second predetermined number of steering cycles for parking the vehicle where the second is greater than the first predetermined number of steering cycles.

The invention provides a parallel parking method based on a three-order arctan function model. The invention provides a method for planning an arctan type route with three-order disturbance. The method comprises the following steps: calculating a constraint space according to vehicle kinematics, calling for a ga function by a tool kit of a genetic algorithm in MATLAB, calling for an objective function taking barrier constraint, vehicle parameter constraint, parking initial point and end point position constraint in a parking process as a locus function and taking the minimal horizontal inclined angle between the vehicle at the parking end point and the parking space as a fitness function, thereby solving an optimal parameter of the locus function and confirming the optimal parallel parking track. According to the method provided by the invention, the ratio of parking space length to vehicle length is about 1.315 and the effect is excellent.

An automatic parallel parking device includes an ultrasonic positioning module and a central controlling unit. The ultrasonic positioning module includes a plurality of ultrasonic sensor units disposed at different locations of the vehicle, and a computation unit. Each of the ultrasonic sensor units detects a distance to each of the first obstacle and the second obstacle. The computation unit has a pre-established space positioning matrix and pre-established approximate coordinate data, and estimates a first actual coordinate position of the first obstacle and a second actual coordinate position of the second obstacle based on the distances detected by the ultrasonic sensor units. The central controlling unit is coupled to the ultrasonic positioning module. The central controlling unit has a pre-established parking path algorithm and a pre-established minimal parking space.

A parallel parking assistant system integrated with a vehicle and method thereof are provided, the parking assistant system including a first sensor configured to determine a first distance, a second sensor configured to determine a second distance, and a controller configured to provide commands as a function of the first and second determined distances. The commands include a first command configured to command a steering system to be in a clockwise position while the vehicle is moving in a reverse direction for a first reversing distance, a second command configured to command the steering system to be in a substantially straight position while the vehicle is moving in a reverse direction for a second reversing distance, and a third command configured to command the steering system to be in a counter-clockwise position while the vehicle is a moving in a reverse direction for a third reversing distance.

The invention belongs to the field of automatic driving vehicle control, and discloses a fully automatic parking control system for parallel spaces of an autonomous vehicle. , The system is composed of a vehicle peripheral environment information module, a vehicle information collection module, a vehicle execution module, an interaction module, an unmanned controller and a fully automatic parkingcontroller, wherein the parallel parking automatic parking control system comprises a vehicle peripheral environment information module, a vehicle information collection module, a vehicle execution module, an interaction module, an unmanned controller and a fully automatic parking controller. The invention can realize automatic steering, automatic braking, automatic throttle, automatic shift, automatic parking and related BCM actions (lights, horns, etc.), and finally complete the fully-automatic parking function of the vehicle. While providing an interactive interface with the unmanned controller and a human-computer interactive interface, The fully automatic parking function can not only be accomplished independently of the unmanned controller (parking is enabled by the man-machine interactive switch), but also can be cooperated with the unmanned controller, so that the unmanned operation of the vehicle driving in the automatic driving mode and the parallel parking in the direction can be realized.

A method includes parallel parking a vehicle between a first object and a second object in response to an available parking distance therebetween. The vehicle includes front steerable wheels and rear steerable wheels. A distance between the first object and the second object is remotely sensed determining whether to apply a one or two cycle parking strategy. An autonomous one cycle parking strategy includes pivoting the front and rear steerable wheels in respective directions for steering the vehicle in a first reverse arcuate path of travel and then cooperatively pivoting the steerable wheels in a counter direction for steering the vehicle in a second reverse arcuate path of travel to a final park position. The autonomous two cycle parking strategy includes performing the one cycle parking maneuver and then changing a transmission gear to a drive gear and pivoting the front and rear steerable wheels in the first direction for moving the vehicle forward to a final park position.

The invention discloses an automobile, which comprises a steering wheel, a steering brake, a controller and a sensing device. The sensing device is used for remotely sensing distances between the automobile and a first object as well as between the automobile and a second object. The controller is used for obtaining a gap between the first object and the second object and a body posture angle of the automobile according to the two distances and judging whether the gap is no less than a preset threshold value or not. If the gap is no less than a preset threshold value, the gap is sufficient for the automobile to be parked between the first object and the second object in parallel, and 30-50 groups of control sequences of the steering angle of the steering wheel and the backward running distance are formed according to the gap. The steering brake is used for executing the control sequences; and the steering wheel is used for automatic and parallel parking of the automobile in a parking space between the first object and the second object according to the control sequences. The automobile has the advantages that automatic planning of a parking path and output of the control sequences can be realized when the automobile is in any posture and parking can be realized conveniently by a parking controller. The invention also relates to an automatic parking system and an automatic parking method applied to the automobile.

The invention belongs to the field of automatic driving vehicle control, and discloses a control method of a fully-automatic parking system for parallel spaces of an automatic driving vehicle, which utilizes a plurality of ultrasonic sensors to detect parking spaces information and distance information and angle information of a peripheral obstacle relative to the automatic driving vehicle. The FAPA controller collects sensor information, vehicle attitude and state information and actuator state information, and performs perceptual fusion, path planning and decision control. Finding parking spaces, planning lateral trajectories and longitudinal speeds, and controlling the longitudinal and transverse directions of vehicles. The invention can realize automatic steering, automatic braking, automatic throttle, automatic shift, automatic parking and related BCM actions (lights, horns, etc.), and finally complete the full automatic parking function of the vehicle. It can also be used in conjunction with an autopilot controller to achieve the unmanned driving and parallel parking of the vehicle in autopilot mode.

The invention relates to a garage parking system, in particular to a garage driving guidance parking intelligent control system and a garage driving guidance parking intelligent control method belonging to the garage parking intelligent management field. A garage driving guidance parking intelligent control system is characterized that: the system adopts a monitoring computer and programmable controllers which are connected with the monitoring computer and arranged in different parking regions inside a garage for monitoring the whole garage; the system further comprises an in-garage parking region mark displaying module, a parking space selecting module for selecting a specific parking space when entering an in-garage parking region, and an in-garage ground driving guidance mark displaying module used for driving guidance for parking after the parking space is selected; and when a vehicle enters the garage, the parking space is selected through the parking space selecting module, the programmable controllers controls the in-garage ground driving guidance mark displaying module to guide the vehicle to drive to the specific parking space according to the guidance of the in-garage ground driving guidance mark displaying module, and completes the parking with the assistant of the in-garage parking region mark displaying module. By adopting the garage driving guidance parking intelligent control system and the garage driving guidance parking intelligent control system control method, the parking is safer and faster, the management is clearer and more convenient, and the energy is saved.