Full-automatic parking method and system

Patent metadata

Field	Value
Publication number	US-11338798-B2
Application number	US-201816321048-A
Country	US
Kind code	B2
Filing date	Aug 3, 2018
Priority date	Sep 19, 2017
Publication date	May 24, 2022
Grant date	May 24, 2022

Abstract

Provided are a full-automatic parking method and system. The full-automatic parking method comprises: receiving a start instruction sent by a user, and activating an automatic parking system according to the start instruction; controlling a vehicle to automatically move forward and search, during moving, whether there is an available parking space at the left side or the right side of the vehicle, and when there is an available parking space, identifying basic information of the target parking space; planning a parking path according to the identified basic information of the target parking space, and obtaining a start point of parking and a parking path from the start point of parking to an end point of parking; controlling the vehicle to automatically move to the start point of parking; and controlling the vehicle to automatically park in the parking space according to the planned parking path. Through the full-automatic parking method and system provided by the present disclosure, a vehicle searches and identifies a free parking space while automatically moving forward, and automatically parks in the parking space; no human involvement is required in the whole process of searching a parking space and parking, thereby implementing full-automatic parking.

First claim

What is claimed is:

1. A full-automatic parking method, comprising:
receiving a start instruction sent by a user, and activating an automatic parking system according to the start instruction;
controlling a vehicle to automatically move forward and search, during moving, whether there is an available parking space at the left sides or the right side of the vehicle, and when there is an available parking space, identifying basic information of a target parking space;
planning a parking path according to the identified basic information of the target parking space, and obtaining a start point of parking and a parking path from the start point of parking to an end point of parking;
controlling the vehicle to automatically move to the start point of parking; and
controlling the vehicle to automatically park in the parking space according to the planned parking path;
wherein after activating the automatic parking system, and before controlling the vehicle to automatically move forward to search a parking space, further comprising:
detecting whether a driver of the vehicle has got off; if it is detected that the driver has not got off, controlling the vehicle to be in a stationary state and wait for or prompt the driver to get off.

2. The full-automatic parking method as claimed in claim 1 , wherein receiving the start instruction sent by the user, and activating the automatic parking system according to the start instruction comprises:
detecting whether an automatic parking button set in the vehicle is triggered by the user; and
when it is detected that the automatic parking button is triggered by the user, activating the automatic parking system.

3. The full-automatic parking method as claimed in claim 1 , wherein receiving the start instruction sent by the user, and activating the automatic parking system according to the start instruction comprises:
detecting whether an automatic parking start instruction, which is sent by the user via a remote key or a user terminal, is received by a wireless signal receiving device set in the vehicle; and
when it is detected that the automatic parking start instruction, which is sent by the user, is received by the wireless signal receiving device, activating the automatic parking system.

4. The full-automatic parking method as claimed in claim 1 ,
wherein after activating the automatic parking system, and before controlling the vehicle to automatically move forward to search a parking space, further comprising:
detecting whether a driver of the vehicle has got off;
if it is detected that the driver has got off, controlling the vehicle to move forward to search a parking space.

5. The full-automatic parking method as claimed in claim 1 , wherein after activating the automatic parking system, and before controlling the vehicle to automatically park according to the planned parking path, further comprising:
detecting whether a driver of the vehicle has got off;
if it is detected that the driver has not got off, controlling the vehicle to be in the stationary state and wait for or prompt the driver to get off;
if it is detected that the driver has got off, controlling the vehicle to automatically park according to the planned parking path.

6. The full-automatic parking method as claimed in claim 1 , wherein controlling the vehicle to automatically move forward and search, during moving, whether there is an available parking space at the left sides or the right side of the vehicle comprises:
controlling the vehicle to automatically move forward at a given speed;
during the moving, acquiring distance-measurement information of a plurality of ultrasonic sensors about the vehicle and surroundings by using a sensing device set on the vehicle body, and adjusting, according to the distance-measurement information, a moving speed and a steering wheel angle of the vehicle to make the vehicle search the parking space and avoid obstacles in a moving direction until it is determined according to the distance-measurement information that there is an available parking space at the left side or the right side of the vehicle, acquiring the basic information of the target parking space according to the distance-measurement information.

7. The full-automatic parking method as claimed in claim 6 , wherein when the vehicle searches the parking space in the moving direction, determining, according to the distance-measurement information of the ultrasonic sensors at the left side or the right side of the vehicle, whether the vehicle deviates from the moving direction; if it is determined that the vehicle has deviates from the moving direction, adjusting a moving orientation of the vehicle until the vehicle returns to the correct moving direction.

8. The full-automatic parking method as claimed in claim 6 , wherein when the vehicle searches the parking space in the moving direction, if it is determined according to the distance-measurement information that there is an obstacle in front of the vehicle, controlling the vehicle to brake, and after the obstacle disappears, controlling the vehicle to move forward again to search the parking space; if the obstacle is still there after a predetermined length of time, controlling the vehicle to exit the automatic parking system.

9. The full-automatic parking method as claimed in claim 1 , when the vehicle searches the parking space in the moving direction, determining whether there is an available parking space at the left sides or the right side of the vehicle in the following way:
determining whether the vehicle passes by a vehicle/other obstacle according to a range of distance-measurement values between the vehicle and a parked vehicle or other obstacles and a fluctuation in distance-measurement values before and after this moment; when the vehicle is about to leave this vehicle/other obstacle, recording, after a step change in the distance-measurement value of the vehicle, a drive distance S 1 of the vehicle as a first boundary of the parking space, and recording a minimum distance-measurement value D 1 during the time when the vehicle passes by this vehicle/other obstacle as a lateral distance between the vehicle and the first vehicle/other obstacle; wherein the minimum distance-measurement value D 1 , corresponding to the drive distance of the vehicle, is recorded as S 1 ′;
when the vehicle passes by a vehicle/other obstacle again, recording, after another step change in the distance-measurement value of the vehicle, a drive distance S 2 of the vehicle as a second boundary of the parking space, recording a minimum distance-measurement value D 2 during the time when the vehicle passes by the second vehicle/other obstacle as the lateral distance between the vehicle and the second vehicle/other obstacle, and recording a minimum distance-measurement value during the first step change and the second step change as a parking space depth D 3 ;
determining a change trend of the distance-measurement value when the vehicle passes by the first vehicle/obstacle and the second vehicle/obstacle, fitting the distance-measurement value into a straight line changing over time, and calculating the slope of the straight line to obtain an angle of inclination α between the moving direction and the parked vehicle/obstacles;
if α≥15°, and D 3 ≥L*sin α+D 2 +1 m, and

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Assignees

• Guangzhou Automobile Group Co

Inventors

• Pan Qinggui
• He Qiaojun
• Fan Ming
• Lin Xiaomin
• Qiu Mingzhe
• Liu Zhifeng

Classifications

• B60W2540/215

  Selection or confirmation of options · CPC title

• G01S15/931 Primary

  of land vehicles · CPC title

• G01S15/08

  Systems for measuring distance only (indirect measurement G01S15/46) · CPC title

• B60W2554/20

  Static objects · CPC title

• G01S2015/934

  for measuring the depth, i.e. width, not length, of the parking space · CPC title