CN105774815A - High-adaptability human-computer interaction type intelligent parking method - Google Patents

Abstract

The invention discloses a highly adaptable human-computer interaction intelligent parking method, which belongs to the technical field of automobiles. The highly adaptable human-computer interaction intelligent parking system involved in the present invention includes: an environment collection module, a human-computer interaction module, a central processing unit module and a vehicle motion control module; the environment collection module sends the surrounding environment information of the vehicle to the central processing unit module; the human-computer interaction module realizes the recognition of the driver's parking position and the planning of the parking path through the touch screen; the central processing unit module is used for the recognition of the surrounding environment of the vehicle, the recognition of the parking space, the planning of the parking path, and the calculation of the vehicle motion parameters; the vehicle motion The control module completes the parking action according to the vehicle operating parameters given by the central processing unit module. According to the above parking system, the present invention allows the driver to participate in the parking process through man-machine interaction, reduces the complexity of the environment detection algorithm, and improves the reliability of the parking process.

Description

A highly adaptable human-computer interaction intelligent parking method

technical field

The invention belongs to the technical field of automobiles, and in particular relates to a highly adaptable human-computer interaction intelligent parking method.

Background technique

As the number of cars increases year by year, traffic congestion becomes more and more serious, parking difficulties in large and medium-sized cities become increasingly prominent, and many drivers find it difficult to control parking technology; therefore, automatic parking systems have a strong market demand and a broad market market space.

Many companies and institutions have carried out the research and development of the automatic parking system, and this function has also been applied in the existing mid-to-high-end passenger car models. A summary of the existing parking solutions is roughly as follows: turn on the automatic parking function, and drive past the parking area at a speed less than a certain value (such as: 35km/h), and the on-board sensor system starts to work at this time; After a parallel or perpendicular parking space can be parked, the system makes an automatic parking strategy based on the current position of the car, the target position and the surrounding environmental parameters, generates corresponding control commands, prompts the driver to drive the car to the designated area, and then prompts the driver The driver stops, puts into the R gear or automatically switches to the R gear; the actuator receives the control command to control the steering of the vehicle, and combines the driver's longitudinal control to complete the parking action.

The deficiencies in the existing parking system are embodied in the following points:

1. The existing automatic parking system is only suitable for specific parking spaces preset by the parallel or vertical system, and cannot realize parking space recognition and parking in complex and unstructured parking spaces;

2. When an obstacle is encountered during parking, the system will remind the driver to take manual intervention, and then exit the automatic parking process. The system itself cannot fully perceive the parking environment and manually correct the parking path;

3. Due to the complexity of the real environment, there is no real automatic unmanned parking system applied to automotive products.

Contents of the invention

Aiming at the deficiencies of the existing technology, the present invention proposes a highly adaptable human-computer interaction intelligent parking method, which integrates the driver's subjective initiative with the automatic characteristics of the parking system, and uses the driver's cognitive ability to make up for the parking problem. Insufficient system environment recognition ability.

For realizing above-mentioned technical purpose, technical scheme of the present invention is:

Step 1: Build a highly adaptable human-computer interactive intelligent parking system;

Step 2: After entering the parking area, the driver turns on the automatic parking system according to the demand and enters the parking mode;

Step 3: The environment acquisition module is turned on, the camera and the lidar scan the surrounding environment of the vehicle, and the data is transmitted to the CPU module; the environment recognition unit in the CPU module fuses the data of the camera and the lidar to generate an environment map around the vehicle And identify obstacles; the parking space recognition unit generates a parking position box based on the parking map, and sends it to the human-computer interaction module for display;

Step 4, if the driver thinks that the default parking space does not need to be adjusted, the system will directly generate a parking path; when the driver is not satisfied with the system’s default parking space, the system allows the human-computer interaction module to realize the human-computer interaction interface to adjust the parking position. Adjustment, the driver can adjust the parking position box on the human-computer interaction interface; the human-computer interaction module feeds back the result confirmed by the driver to the parking space recognition unit in the central processing module until the driver confirms that the parking position is valid;

Step 5, the path planning unit in the central processing unit module calculates the parking path based on the parking position and the relative position of the vehicle, and displays it through the human-computer interaction module;

Step 6: The driver confirms the displayed parking path through the human-computer interaction module. If the driver is satisfied with the calculated parking path, he will directly enter the next step; if the default parking path is unreasonable, the driver can pass The human-computer interaction interface adjusts the parking route, and the human-computer interaction module feeds back the confirmation result to the path planning unit of the central processing module; repeat step five until the driver confirms, and then enters the next step;

Step 7, the vehicle motion parameter calculation unit in the central processing unit module calculates the motion control parameters of the vehicle according to the parking position, the parking path, and the position of the vehicle, and sends them to the vehicle motion control module to enter the parking mode;

Step 8: After the vehicle motion control module receives the vehicle motion control parameters, it is connected with the transmission system and the steering system, so that the vehicle moves along the expected planned path, and parking can be completed.

Further, in the human-computer interaction module, the human-computer interaction module displays the suitable parking interval detected by the parking space recognition unit on the screen with a box, and when the driver thinks that the box area needs to be adjusted, he can use the on-screen The human-computer interaction interface adjusts the parking box by dragging, rotating, and zooming; the human-computer interaction module displays the edge of the parking path planned by the path planning unit on the screen. When the driver thinks that the path range memory When there is an obstacle, the human-computer interaction interface on the screen can be used to realize the parking path to avoid a specific road area by clicking "Mark as an obstacle".

Further, the high-adaptability human-computer interaction intelligent parking system in step 1 includes: an environment acquisition module, a human-computer interaction module, a central processing unit module and a vehicle motion control module;

The central processor module includes: an environment recognition unit, a parking space recognition unit, a path planning unit and a vehicle motion parameter calculation unit;

The environment collection module includes a camera and a laser radar, and the camera and the laser radar are connected to the central processing unit module, and the detected vehicle surrounding environment information is converted into a digital quantity, and sent to the central processing unit module;

The human-computer interaction module is used to display and adjust the parking position and the parking path, and realize the interaction between the driver and the central processing module through the touch screen;

The central processor module processes the data sent by the environment acquisition module, generates a parking environment map, parking location and parking path, and sends them to the vehicle motion control module;

The vehicle motion control module is used to receive the vehicle operation parameters sent by the central processor module, control the vehicle operation, and complete the parking action.

The beneficial effects of the present invention are as follows: firstly, the parking system after the introduction of human-computer interaction fully exerts the subjective initiative of the driver in the decision-making process, overcomes the problem of insufficient environmental perception adaptability of the existing system, and expands the scope of application of automatic parking , improving the parking efficiency; secondly, under the premise of ensuring safety, the driver's right to choose parking is improved, and the user experience is improved. The invention has strong universality and is especially suitable for automatic parking in complex unstructured road environment.

Description of drawings

Fig. 1 is a structural schematic diagram of a highly adaptable man-machine interactive intelligent parking system of the present invention;

Fig. 2 is a working flow chart of a highly adaptable man-machine interactive intelligent parking system of the present invention.

detailed description

The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments, but the protection scope of the present invention is not limited thereto.

Fig. 1 is a schematic structural diagram of a highly adaptable human-computer interaction intelligent parking system of the present invention, including: an environment acquisition module 101, a human-computer interaction module 102, a central processing unit module 103 and a vehicle motion control module 104;

The central processor module 103 includes: an environment recognition unit 1031, a parking space recognition unit 1032, a path planning unit 1033 and a vehicle motion parameter calculation unit 1034;

The environment collection module 101 is connected with the central processor module 103, converts the detected vehicle surrounding environment information into a digital quantity, and sends it to the central processor module 103;

The human-computer interaction module 102 is used to display and adjust the parking position and the parking path, and realize the interaction between the driver and the central processing unit module 103 through a touch screen;

The central processor module 103 processes the data sent by the environment collection module 101, generates a parking environment map, parking location and parking route, and sends them to the vehicle motion control module 104;

The vehicle motion control module 104 is used to receive the vehicle operation parameters sent by the central processing unit module 103, control the vehicle operation, and complete the parking action.

The environment acquisition module 101 includes a camera and a laser radar; the camera has four, installed near the headlights and taillights of the car; the laser radar is one or more four-line laser radars, distributed around the vehicle body; the camera and laser The radar collects the surrounding environment information of the vehicle in real time, converts it into digital quantities, and sends them to the central processing unit module 103 .

The human-computer interaction module 102 is a multi-touch display module; the human-computer interaction module 102 displays the parking environment map, parking position and parking route sent by the central processing unit module 103 on the human-computer interaction module 102 On the screen, the driver adjusts the parking position and parking path through the touch screen.

Fig. 2 is a work flow diagram of a highly adaptable man-machine interactive intelligent parking system of the present invention, including steps:

Step 1, build a highly adaptable human-computer interactive intelligent parking system as shown in Figure 1;

Step 2: After entering the parking area, the driver turns on the automatic parking system according to the demand and enters the parking mode;

Step 3, the environment collection module 101 is turned on, the camera and the laser radar scan the surrounding environment of the vehicle, and the data is transmitted to the central processing unit 103; the environment recognition unit 1031 in the central processing module 103 fuses the data of the camera and the laser radar to generate a vehicle The surrounding environment map and identify obstacles; the parking space identification unit 1032 generates a parking position box based on the parking map, and sends it to the human-computer interaction module 102 for display;

Step 4, if the driver thinks that the default parking space does not need to be adjusted, the system directly generates a parking route; To adjust, the driver manually adjusts the parking position frame by dragging, rotating, and zooming on the human-computer interaction interface; the human-computer interaction module 102 feeds back the result of the driver's confirmation to the central processing unit module 103 The parking space identification unit 1032 until the driver confirms that the parking position is valid;

Step 5, the path planning unit 1033 in the central processing module 103 calculates the parking path based on the parking position and the relative position of the vehicle, and displays it through the human-computer interaction module 102;

Step 6, the driver confirms the displayed parking route through the man-machine interaction module 102, if the driver is satisfied with the calculated parking route, then directly enters the next step; if the default parking route is unreasonable, the driver can Through the human-computer interaction interface, the way of clicking "mark as an obstacle" is realized to avoid the specific road area for the parking path, and the human-computer interaction module 102 feeds back the confirmation result to the path planning unit 1033 of the central processing module 103; repeat step five, After the driver confirms, go to the next step;

Step 7, the vehicle motion parameter calculation unit 1034 in the CPU module 103 calculates the motion control parameters of the vehicle according to the parking position, the parking path, and the position of the own vehicle, and sends it to the vehicle motion control module 104 to enter the parking mode ;

Step 8: After receiving the vehicle motion control parameters, the vehicle motion control module 104 interfaces with the transmission system and the steering system, so that the vehicle moves along the expected planned path, and then parking is completed.

If any failure occurs in the above links, the central processing unit module 103 will report an error to the driver through the man-machine interface, prompting the driver to perform necessary manual intervention according to the cause of the failure.

A highly adaptable human-computer interactive intelligent parking method provided by the present invention has been described in detail above. This paper uses specific examples to illustrate the principle and implementation of the present invention. It should be noted that the above only It is only a preferred embodiment of the present invention, and is not intended to limit the present invention. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present invention shall be included within the protection scope of the present invention.

Claims (3)

1. a high-adaptability man-machine interaction type intelligent parking method, it is characterised in that comprise the following steps:

Step one, builds high-adaptability man-machine interaction type Intelligent parking system；

Step 2, entrance can behind parking areas, and driver according to demand, opens automated parking system, enters and seeks storehouse pattern；

Step 3, environment acquisition module (101) unlatching, video camera and Laser Radar Scanning vehicle-surroundings environment, transfer data in CPU module (103)；Context awareness unit (1031) in CPU module (103) merges the data of video camera and laser radar, generates environmental map the cognitive disorders thing of vehicle-surroundings；Parking stall recognition unit (1032) generates parking place square frame based on map of parking, and send human-computer interaction module (102) to show；

Step 4, if driver thinks that the parking stall of acquiescence need not adjust, system directly generates parking path；When the parking stall of system default is unsatisfied with by driver, system allows for human-computer interaction interface by human-computer interaction module (102) and parking place is adjusted, and driver adjusts parking place square frame on human-computer interaction interface；The result of driver certifying is fed back to the parking stall recognition unit (1032) in CPU module (103) by human-computer interaction module (102), until driver certifying parking place is effective；

Step 5, the path planning unit (1033) in CPU module (103), based on parking place and the relative position from car, calculates parking path, and by human-computer interaction module (102) display；

Step 6, the parking path of display is confirmed by driver by human-computer interaction module (102), if the parking path that driver is to calculating is satisfied, is then directly entered next step；If the parking path of acquiescence is unreasonable, parking path can be adjusted by driver by human-computer interaction interface, and human-computer interaction module (102) will confirm that result feeds back to the path planning unit (1033) of CPU module (103)；Repeat step 5, until after driver certifying, entering next step；

Step 7, vehicle movement parameter computing unit (1034) in CPU module (103) is according to parking place, parking path and from truck position, calculate the motor control parameter of vehicle, and send to vehicle motion control module (104), enter park mode；

Step 8, vehicle motion control module (104) is docked with power train, steering system after receiving vehicle motion control parameter so that vehicle, along the path movement of expection planning, can complete to park.

2. a kind of high-adaptability man-machine interaction type intelligent parking method according to claim 1, it is characterized in that, in described human-computer interaction module (102), the interval square frame of properly parking that parking stall recognition unit (1032) is detected by human-computer interaction module (102) is shown on screen, when driver thinks that this boxed area needs to adjust, Man Machine Interface on available screen, is adjusted square frame of parking to pull, to rotate, in the way of convergent-divergent；The parking path that path planning unit (1033) is planned is shown on screen by human-computer interaction module (102), when driver thinks and there is barrier in this path domain, Man Machine Interface on available screen, to click " being labeled as barrier " mode, it is achieved parking path avoids specified link region.

3. a kind of high-adaptability man-machine interaction type intelligent parking method according to claim 1, it is characterized in that, high-adaptability man-machine interaction type Intelligent parking system in described step one, including: environment acquisition module (101), human-computer interaction module (102), CPU module (103) and vehicle motion control module (104)；

Described CPU module (103) including: Context awareness unit (1031), parking stall recognition unit (1032), path planning unit (1033) and vehicle movement parameter computing unit (1034)；

Described environment acquisition module (101) includes video camera and laser radar, described video camera is all connected with CPU module (103) with laser radar, the vehicle-surroundings environmental information of detection is converted into digital quantity, and is sent to CPU module (103)；

Described human-computer interaction module (102), is used for showing and adjust parking place and parking path, realizes the mutual of driver and CPU module (103) by touch screen；

The data that described CPU module (103) processing environment acquisition module (101) sends, generate park environmental map, parking place and parking path, and send to vehicle motion control module (104)；

Described vehicle motion control module (104), is used for receiving the vehicle operating parameters that CPU module (103) sends, and controls vehicle and runs, completes action of parking.