CN112141081A - Backing-in auxiliary system and method - Google Patents
Backing-in auxiliary system and method Download PDFInfo
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- CN112141081A CN112141081A CN201910559115.7A CN201910559115A CN112141081A CN 112141081 A CN112141081 A CN 112141081A CN 201910559115 A CN201910559115 A CN 201910559115A CN 112141081 A CN112141081 A CN 112141081A
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- 238000004590 computer program Methods 0.000 claims description 2
- 238000003032 molecular docking Methods 0.000 description 3
- 206010039203 Road traffic accident Diseases 0.000 description 2
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/06—Automatic manoeuvring for parking
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
- B60W2420/408—Radar; Laser, e.g. lidar
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60W2420/50—Magnetic or electromagnetic sensors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60W2420/54—Audio sensitive means, e.g. ultrasound
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Abstract
The present disclosure relates to a reverse parking assist system and method. The system projects a warning sign behind a current vehicle during a process of backing into a parking space, and includes: the information acquisition unit is configured to acquire parking space information, information of other traffic participants behind the current vehicle and position information of the current vehicle; a projection angle calculation unit configured to calculate horizontal and vertical angles of the projection element, which horizontal and vertical angles cause the projection element to project a warning sign outside a rear edge of the parking space; a control unit configured to adjust the projection element to continuously project the warning sign outside a rear edge of the parking space during a current reversing of the vehicle into the parking space. The reverse parking auxiliary system and the reverse parking auxiliary method can send out warning prompts to backward traffic participants in the process that the current vehicle backs into the parking space so as to avoid causing safety accidents.
Description
Technical Field
The disclosure belongs to the technical field of vehicles, and relates to a vehicle backing-in auxiliary system and method. More particularly, the present disclosure relates to systems and methods for assisting in backing into a parking space by alerting rearward traffic participants during parking.
Background
When a vehicle is looking for a parking space, if other vehicles are arranged behind the vehicle, the rear vehicle often does not know that the front vehicle needs to be backed into the parking space. Sometimes, when a front vehicle backs into a position, a rear vehicle cannot avoid in time due to too short distance. Therefore, when the front vehicle finds a parking space and parks, and the rear vehicle is about to be poured into the parking space at the side position, enough space often cannot be reserved between the rear vehicle and the front vehicle, so that the front vehicle is influenced to be backed into the parking space, and even an accident occurs.
The prior art has the scheme that a projection lamp is installed at the tail of a vehicle, and when the vehicle backs, the projection lamp projects a line behind the vehicle to warn the rear vehicle and prevent rear-end accidents. The warning line projected behind the vehicle is a fixed line behind the vehicle and can move along with the vehicle in the moving process of the vehicle. Such a warning line is, by its nature, an extension of the reversing light of the vehicle and does not function effectively to warn of a following vehicle.
Therefore, there is a need for a reverse parking assist system and method that prevents a following vehicle from following too close to affect reverse parking.
Disclosure of Invention
The purpose of the disclosure is to prevent a rear vehicle from following too close to influence the backing-in position by projecting a warning sign to another traffic participant behind the current vehicle during the process of backing the vehicle into a parking space, so as to reduce the occurrence of rear-end traffic accidents caused thereby.
In one aspect of the present disclosure, there is provided a reverse parking assist system, including:
the information acquisition unit is configured to acquire information of a parking space, information of other traffic participants behind the current vehicle and position information of the current vehicle;
a projection angle calculation unit configured to calculate horizontal and vertical angles of the projection element based on at least position information of the current vehicle, the horizontal and vertical angles causing the projection element to project a warning sign outside a rear edge of the parking space;
a control unit configured to adjust the projection element based at least on the calculated horizontal and vertical angles to continuously project the warning sign outside the rear edge of the parking space.
According to an embodiment of the present disclosure, the information acquisition unit includes one or more sensors mounted on the current vehicle, the one or more sensors being any one or a combination of any plurality selected from the following: camera device, laser radar, millimeter wave radar and ultrasonic sensor.
According to an embodiment of the present disclosure, the position information of the current vehicle includes a distance of the current vehicle from the parking space, and an angle of the current vehicle.
According to an embodiment of the present disclosure, the projection element is installed at the rear of the present vehicle, and includes a motor controlling horizontal angle adjustment and vertical angle adjustment of the projection element, such as a laser projection element.
According to an embodiment of the present disclosure, the other traffic participants include bicycles, pedestrians, or other vehicles.
According to an embodiment of the present disclosure, the warning indication is a stop line, e.g. a flashing stop line.
In another aspect of the present disclosure, there is provided a reverse parking assist method, including:
(1) detecting a parking space of a current vehicle in a forward process;
(2) in response to detecting a parking space, detecting whether other traffic participants follow behind the current vehicle;
(3) in response to detecting that the current vehicle is followed by other traffic participants, adjusting the horizontal and vertical angles of the projecting element based on the position information of the current vehicle such that the projecting element projects warning signs outside the rear edge of the parking space;
(4) continuously adjusting the horizontal and vertical angles of the projection element based on at least the position information of the current vehicle during the backing of the current vehicle into the parking space such that the projection element continuously projects the warning sign outside the rear edge of the parking space.
According to an embodiment of the present disclosure, the parking space, the position information of the current vehicle and other traffic participants behind the current vehicle are detected by one or more sensors installed on the current vehicle, the one or more sensors being any one or a combination of any plurality selected from the following: magnetic field sensor, camera device, laser radar, millimeter wave radar and ultrasonic sensor.
According to an embodiment of the present disclosure, the position information of the current vehicle includes a distance of the current vehicle from the parking space, and an angle of the current vehicle.
According to an embodiment of the present disclosure, the parking space is 5-6 meters in length.
According to an embodiment of the present disclosure, the other traffic participants include bicycles, pedestrians, or other vehicles.
According to an embodiment of the present disclosure, the horizontal angle adjustment and the vertical angle adjustment of the projecting element are controlled by a motor.
According to an embodiment of the present disclosure, the warning indication is a stop line, e.g. a flashing stop line.
According to an embodiment of the present disclosure, the method further comprises turning off the laser projecting element after or near completion of the reversing of the current vehicle into the parking space.
According to yet another aspect of the disclosure, a computer-readable storage medium is provided, having stored thereon a computer program, which when executed by a processor, implements the method of any of the above.
Therefore, compared with the prior art, according to the vehicle driving assistance system and the vehicle driving assistance method disclosed by the invention, the warning mark is projected to the traffic participant behind the current vehicle in the process of backing the vehicle into the parking space, so that the traffic participant behind waits until the action of backing into the parking space is completed after seeing the warning mark, and thus the rear-end collision traffic accident caused by too close proximity of the vehicle behind is avoided.
Drawings
The present disclosure may be better understood by reference to the following description of specific embodiments thereof taken in conjunction with the accompanying drawings, in which like or similar reference numbers indicate identical or functionally similar elements.
Fig. 1 shows a schematic view of a reverse docking assistance system according to an embodiment of the present disclosure.
Fig. 2 shows a schematic diagram in which two motors control horizontal angle adjustment (a) and vertical angle adjustment (B) of the projection element in a reverse parking assist system according to an embodiment of the present disclosure.
Fig. 3 is a schematic view of an application scenario of the system and method for assisting in backing into a parking space according to an embodiment of the present disclosure, where a-C show a side parking space situation, and D show a vertical parking space situation.
Fig. 4 shows a flow chart of a reverse parking assist method according to an embodiment of the present disclosure.
Detailed Description
Hereinafter, embodiments of the present disclosure are described with reference to the drawings. The following detailed description and drawings are included to illustrate the principles of the disclosure, which is not to be limited to the preferred embodiments described, but is to be defined by the claims. The disclosure will now be described in detail with reference to exemplary embodiments thereof, some of which are illustrated in the accompanying drawings. The following description refers to the accompanying drawings, in which like reference numerals refer to the same or similar elements in different drawings unless otherwise indicated. The aspects described in the following exemplary embodiments do not represent all aspects of the present disclosure. Rather, these aspects are merely examples of systems and methods according to various aspects of the present disclosure recited in the appended claims.
According to the auxiliary system for backing into a parking space disclosed by the invention, a rear traffic participant can be informed to provide safety early warning for the rear traffic participant in the process of backing into a parking space. Thus, the reverse parking assist system may be mounted on or applied to a vehicle. The vehicle may be an internal combustion engine vehicle using an internal combustion engine as a drive source, an electric vehicle or a fuel cell vehicle using an electric motor as a drive source, a hybrid vehicle using both of the above as drive sources, or a vehicle having another drive source.
Fig. 1 illustrates an application example of a reverse parking assist system 100 according to an embodiment of the present disclosure. As shown in fig. 1, the back-up and parking assistance system 100 includes an information acquisition unit 101, a projection angle calculation unit 102, and a control unit 103.
As shown in fig. 1, the information collecting unit 101 is configured to collect parking space information, information of other traffic participants behind the current vehicle, and position information of the current vehicle, which may be collected using the same or different sensors. Preferably, the information acquisition unit comprises one or more sensors mounted on the current vehicle, the one or more sensors being any one or combination of any more selected from the following: magnetic field sensor, camera device, laser radar, millimeter wave radar and ultrasonic sensor.
In a specific embodiment, the parking space information is information of an empty parking space. Empty parking stall can supply current vehicle to park, moreover empty parking stall front and back all has car or other barrier or empty parking stall both sides all have car or other barrier, current vehicle need back a car and go into the position and can get into the parking stall. If there is enough space in front of or behind the parking space, the current vehicle can directly exit from the current lane to the parking space without affecting the rear traffic participants, and the reverse-into-seat auxiliary system 100 of the present disclosure does not need to be started in this case. The parking space information includes a position, a size, etc. of the parking space, such as a length of the parking space, for example, 5 to 6 meters, or a width of the parking space, for example, 2 to 3 meters. The parking space information may be detected by a sensor installed at a side of the current vehicle. In the area driving to the right, the sensor is preferably arranged on the right side face of the current vehicle; in the area of left-hand driving, the sensor is preferably mounted on the left side of the current vehicle. According to the detected information of the parking space, the position where a rear traffic participant needs to stop waiting in the process of backing the current vehicle into the parking space can be determined, so that the projection position of the warning mark is determined.
In a particular embodiment, it may be detected by a sensor mounted behind the current vehicle whether there is at least one traffic participant, such as a bicycle, a pedestrian or another vehicle, behind the current vehicle. If there are traffic participants, the distance of the traffic participant from the current vehicle and the speed of approaching the current vehicle may be detected.
In a particular embodiment, the position information of the current vehicle includes a position and an angle of the current vehicle with respect to the parking space. Alternatively, the position information of the current vehicle may include a distance of the current vehicle from the parking space, and an angle of the current vehicle. The distance can be detected by a sensor, the angle can be measured by an angle between a current vehicle and a reference line, for example, a longitudinal median line of the current vehicle is used as a reference when the current vehicle is parallel to the parking space, and the angle is determined by detecting the rotation angle of the current vehicle by a magnetic field sensor in the process of backing up the vehicle. The distance metric may select a point on the current vehicle as a reference point, such as the center or a corner of the vehicle, the projection element location, etc.; also for the parking space, one of the points may be selected as a reference point, such as the center, one of the corners or other location of the parking space. The location chosen is for calculation only and has no essential impact on the implementation of the present disclosure. In an exemplary embodiment, the angle of the current vehicle refers to an angle relative to the parking space, and a center transverse line, a center longitudinal line, and a borderline of the parking space may be taken as references, and any other line may also be used as a reference. In another exemplary embodiment, the angle of the current vehicle refers to an angle of the current vehicle with a current lane. The reference lines were chosen for calculation purposes only and have no essential effect on the practice of the present disclosure. By the distance of the current vehicle from the parking space and the angle of the current vehicle, the horizontal and vertical angles of the projection element can be calculated, so that a warning sign is projected at a desired position.
As shown in fig. 1, the projection angle calculation unit 102 is configured to calculate horizontal and vertical angles of the projection element for determining the position of the warning sign projected by the projection element outside the rear edge of the parking space based at least on the position information of the current vehicle. Specifically, the horizontal and vertical angles of the projecting elements are calculated based on the current vehicle position or the required warning sign position; sending the horizontal and vertical angles of the projection element to a laser projection unit; the laser projection unit controls the adjustment of the horizontal and vertical angles of the projection element through two motors, and the horizontal and vertical angles enable the projection element to project warning marks to required warning mark positions. And in the process that the current vehicle advances forwards and then backs up backwards to enter the parking space, continuously calculating the horizontal and vertical angles of the projection element according to the distance between the current vehicle and the parking space and the angle of the current vehicle, so that the projection element continuously projects a warning mark to a required warning mark position.
In a particular embodiment, after a parking space is detected, the location and direction of the projected warning sign, such as the location and direction of the parking line, is determined outside the trailing edge of said parking space. In order to project the warning sign at the determined position, the extension line of the center of the projection element is required to be directed to the center of the determined position, so that the horizontal and vertical angles of the projection element at each position can be calculated; the direction of the projected warning sign is adjustable by rotating the projecting element.
As shown in fig. 1, the control unit 103 is configured to adjust the projection element at least based on the calculated horizontal and vertical angles to continuously project said warning sign outside the rear edge of the parking space. Preferably, the warning sign is located outside the rear edge of the parking space, on the extension of the rear edge of the parking space, or in front of and behind the extension of the rear edge of the parking space, preferably behind the extension of the rear edge of the parking space. The width of the warning sign is not limited, and the length of the warning sign may be the same as the width of the lane, the same as the width of the current vehicle or the other traffic participants, or any other length. Specifically, a warning sign with a fixed position is continuously projected outside the rear edge of the parking space. More specifically, the warning sign is a line formed by projected light, for example, a red stop line, as a parking identifier. The warning sign may comprise text, which may be projected by means of a laser projection element through a filter or an LED array, for example! ". The projected warning indicator flashes if a traffic participant is detected as being closely behind or approaching the current vehicle.
In a particular embodiment, the projection element is a laser projection element. The projection element is arranged at the tail part of the current vehicle, can be arranged at the part of the tail part of the current vehicle close to the middle, and can also be arranged at any one of two sides. The projection element may have one or more, and may project the same or different contents, such as a stop line, text, and the like. The control unit 103 controls horizontal angle adjustment and vertical angle adjustment of the projecting elements by two motors, respectively. An exemplary manner of motor control is shown in fig. 2, where fig. 2 shows two motors controlling the horizontal angle adjustment and the vertical angle adjustment of the projecting element, a is a top view showing the adjustment of the vertical rotation of the projecting element 11-1 by the first motor 11-3; b is a side view showing the adjustment of the horizontal rotation of the projecting member 11-1 by the second motor 11-4. In the figure 11-2 is the mounting of the projecting element 11-1 and the motors 11-3, 11-4. The first motor 11-3 and the second motor 11-4 are used to adjust the horizontal angle adjustment and the vertical angle adjustment of the projecting member 11-1. It will be understood by those skilled in the art that the first motor 11-3 and the second motor 11-4 do not have to be horizontally and vertically disposed, and that the horizontal angle adjustment and the vertical angle adjustment of the projecting element 11-1 can be performed at a certain angle, and only the magnitude of rotating the first motor 11-3 and the second motor 11-4 is calculated according to the actual situation. Accordingly, any motor arrangement that can adjust the horizontal and vertical angles of the projecting elements is contemplated in this disclosure, including 1 or more motors. It will be appreciated by those skilled in the art that although two motors may achieve both horizontal and vertical angle adjustment of the projecting element, it is also possible to use multiple motors. A motor may also be added to rotate the projecting element.
Fig. 3 illustrates an application scenario of the reverse parking assistance system and method according to an embodiment of the present disclosure. A-C show the side parking situation. Fig. 3 shows that, after the current vehicle 10 detects the roadside parking space 20 and detects the rear traffic participant 30, the laser projection unit 11 behind the current vehicle 10 projects the parking line 12 on the rear edge side of the roadside parking space 20 by adjusting the horizontal angle and the vertical angle, and the rear traffic participant 30 parks behind the parking line 12 to wait for the current vehicle 10 to back up into the parking space 20 (a). Fig. 3 shows that the laser projection unit 11 maintains the traffic participant 30 behind the parking line 12 to continue waiting behind the parking line 12 by dynamically adjusting the horizontal angle and the vertical angle during the current reversing of the vehicle 10 into the parking space 20 (B). Fig. 3 shows that when the vehicle 10 enters the parking space 20 in reverse or is about to enter the parking space 20, the laser projection unit 11 stops projecting the stop line 12, and the rear traffic participant 30 resumes the forward travel (C). The criterion for imminent entry into the parking space is that the current position of the vehicle 10 has no effect on the movement of the rear road user 30.
One case of side position parking is illustrated above, but it will be understood by those skilled in the art that the reverse parking assist system and method according to an embodiment of the present disclosure is applicable to a case of vertical position parking, as shown in D. In the case of a vertical parking, there are vehicles on both the left and right sides of the longitudinal parking space 20 ', and the current vehicle 10 ' backs up into the longitudinal parking space 20 ', the rear transportation participant 30 ' waits for the current vehicle 10 ' to back up into the parking space.
A reverse parking assist method according to an embodiment of the present disclosure will be described below with reference to the accompanying drawings. Fig. 4 shows a flowchart of a reverse parking assist method S200 according to an embodiment of the present disclosure. The reverse docking assistance method S200 is performed by the reverse docking assistance system 100 described above.
As shown in fig. 4, after the parking process is started, a parking space is detected during the current forward movement of the vehicle at step S210. The starting of the backing process can be carried out in an automatic or manual manner. Automatically starting a reversing and positioning process after a sensor detects a parking space; the manual mode is that a person in the current vehicle manually starts the backing-in process through a button, voice or a touch screen. Preferably, the automatic initiation of the reverse parking process may be confirmed by a person present in the vehicle by a button, voice or touch screen. Preferably, the information of detecting the parking space is performed by a first sensor, and the first sensor is any one or combination of any more of the following installed on the current vehicle: magnetic field sensor, camera device, laser radar, millimeter wave radar and ultrasonic sensor.
As shown in fig. 4, in step S220, it is detected whether other traffic participants follow behind the current vehicle. And if no other traffic participants exist behind the current vehicle, the current vehicle directly backs into the parking space. If there are other traffic participants behind the current vehicle, step S230 is entered, and the horizontal and vertical angles of the projection element are adjusted based on the position information of the current vehicle, so that the projection element projects a warning sign outside the rear edge of the parking space. Preferably, detecting whether the current vehicle is followed by other traffic participants is performed by a second sensor, wherein the second sensor is performed by any one or any combination of the following sensors which are installed on the current vehicle: magnetic field sensor, camera device, laser radar, millimeter wave radar and ultrasonic sensor. The calculation of the horizontal and vertical angles of the projecting elements requires identifying the location to be projected based on the distance of the current vehicle from the parking space, the angle of the current vehicle, and the warning. Preferably, the position information of the current vehicle is acquired by a third sensor, and the third sensor is any one or any combination of the following mounted on the current vehicle: magnetic field sensor, camera device, laser radar, millimeter wave radar and ultrasonic sensor. The magnetic field sensor measures a planar magnetic field using a magnetic resistance, thereby detecting a magnetic field intensity and a directional position.
As shown in fig. 4, in step S240, during the process of backing the current vehicle into the parking space, the horizontal and vertical angles of the projection element are dynamically adjusted based on at least the position information of the current vehicle, so that the projection element continuously projects the warning sign outside the rear edge of the parking space.
As shown in fig. 4, in step S250, the laser projection element is turned off after or near the completion of the reversing of the current vehicle into the parking space. This may be detected by the sensor as the relative position of the current vehicle to the parking space; or whether the location is within a target area.
It will be understood by those skilled in the art that the division and order of the various steps in the reverse parking assist method of the present disclosure is merely illustrative and not restrictive, and that various omissions, additions, substitutions, modifications and changes may be made by those skilled in the art without departing from the spirit and scope of the present disclosure as set forth in the appended claims and their equivalents.
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
While the present disclosure has been described with reference to exemplary embodiments, it is to be understood that the disclosure is not limited to the construction and methods of the above-described embodiments. On the contrary, the disclosure is intended to cover various modifications and equivalent arrangements. In addition, while the various elements and method steps disclosed are shown in various example combinations and configurations, other combinations, including more, less or all, of the elements or methods are also within the scope of the disclosure.
Claims (12)
1. A reverse parking assist system, comprising:
the information acquisition unit is configured to acquire information of a parking space, information of other traffic participants behind the current vehicle and position information of the current vehicle;
a projection angle calculation unit configured to calculate horizontal and vertical angles of the projection element based on at least position information of the current vehicle, the horizontal and vertical angles causing the projection element to project a warning sign outside a rear edge of the parking space;
a control unit configured to adjust the projection element based at least on the calculated horizontal and vertical angles to continuously project the warning sign outside the rear edge of the parking space.
2. The assistance system according to claim 1, wherein the information acquisition unit comprises one or more sensors, the one or more sensors being mounted on the current vehicle selected from any one or a combination of any plurality of: camera device, laser radar, millimeter wave radar and ultrasonic sensor.
3. The assistance system according to claim 1 or 2, characterized in that the position information of the current vehicle includes a distance of the current vehicle from the parking space, and an angle of the current vehicle.
4. Auxiliary system according to claim 1 or 2, wherein the projecting element is mounted at the rear of the current vehicle, comprising a motor controlling the horizontal and vertical angle adjustment of the projecting element, respectively, such as a laser projecting element.
5. Assistance system according to claim 1 or 2, wherein the other traffic participants comprise bicycles, pedestrians or other vehicles.
6. Assistance system according to claim 1 or 2, wherein the warning sign is a stop line, such as a flashing stop line.
7. A method for assisting backing into a parking space is characterized by comprising the following steps:
(1) detecting a parking space of a current vehicle in a forward process;
(2) in response to detecting a parking space, detecting whether other traffic participants follow behind the current vehicle;
(3) in response to detecting that the current vehicle is followed by other traffic participants, adjusting the horizontal and vertical angles of the projecting element based on the position information of the current vehicle such that the projecting element projects warning signs outside the rear edge of the parking space;
(4) continuously adjusting the horizontal and vertical angles of the projection element based on at least the position information of the current vehicle during the backing of the current vehicle into the parking space such that the projection element continuously projects the warning sign outside the rear edge of the parking space.
8. The method of assisting in reverse parking according to claim 7, wherein the parking space, the position information of the current vehicle, and other traffic participants behind the current vehicle are detected by one or more sensors, which are any one or a combination of any plurality of the following, installed on the current vehicle: magnetic field sensor, camera device, laser radar, millimeter wave radar and ultrasonic sensor.
9. A method as claimed in claim 7 or 8, wherein the position information of the current vehicle includes a distance of the current vehicle from the parking space and an angle of the current vehicle.
10. The reverse parking assist method according to claim 7 or 8, wherein the horizontal angle adjustment and the vertical angle adjustment of the projecting member are controlled by a motor.
11. The method of claim 7 or 8, further comprising causing the projecting element to end projecting the warning sign upon completion or near completion of the current vehicle reversing into the parking space.
12. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the method of any one of claims 7 to 11.
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| CN201910559115.7A CN112141081A (en) | 2019-06-26 | 2019-06-26 | Backing-in auxiliary system and method |
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