CN114771507A

Movatterモバイル変換

Info

Publication number: CN114771507A
Application number: CN202210554630.8A
Authority: CN
Inventors: 王丽丽; 连桂有; 侯坤锋; 尹震宇; 崔茂源
Original assignee: FAW Group Corp
Current assignee: FAW Group Corp
Priority date: 2022-05-19
Filing date: 2022-05-19
Publication date: 2022-07-22

Abstract

The invention discloses an automatic parking method, an automatic parking device, a vehicle and a storage medium, wherein the automatic parking method comprises the following steps: after the target vehicle is detected to enter a parking mode, parking path information corresponding to the target vehicle is obtained in real time through an automatic parking controller in the target vehicle; the parking path information is sent to a head-up display controller in the target vehicle through the automatic parking controller; parking path information is displayed on a windshield in the target vehicle by a head-up display controller. The technical scheme of the embodiment of the invention can improve the safety of the automatic parking process.

Description

Translated fromChinese

一种自动泊车方法、装置、车辆及存储介质An automatic parking method, device, vehicle and storage medium

技术领域technical field

本发明涉及智能泊车技术领域，尤其涉及一种自动泊车方法、装置、车辆及存储介质。The present invention relates to the technical field of intelligent parking, and in particular, to an automatic parking method, device, vehicle and storage medium.

背景技术Background technique

目前，自动泊车系统因其方便快捷的优点，已普遍应用在车辆中。车辆在自动泊入的过程中，由于传感器性能以及场景的限制，无法做到有效避障，一般需要用户(也即驾驶员)实时观察周边环境，避免发生车辆碰撞。At present, automatic parking systems have been widely used in vehicles because of their convenience and quickness. In the process of automatic parking, due to the limitations of sensor performance and the scene, it is impossible to avoid obstacles effectively. Generally, users (that is, drivers) are required to observe the surrounding environment in real time to avoid vehicle collisions.

现有技术中，自动泊车系统对应的泊车信息(例如泊车进程以及车辆位置等)，通常是在车辆中的仪表盘或者中控屏中进行显示。在这种情况下，用户需要低头观察泊车信息，同时还需要实时留意车辆周边环境，导致用户视线来回跳转，影响泊车安全。In the prior art, the parking information corresponding to the automatic parking system (such as the parking process and the vehicle position, etc.) is usually displayed on the instrument panel or the central control screen in the vehicle. In this case, the user needs to look down to observe the parking information, and at the same time, he also needs to pay attention to the surrounding environment of the vehicle in real time, which causes the user's line of sight to jump back and forth, which affects the parking safety.

因此，有待提出一种在保证泊车安全的前提下，实现车辆自动泊车的新方案。Therefore, a new solution for realizing automatic parking of vehicles on the premise of ensuring parking safety remains to be proposed.

发明内容SUMMARY OF THE INVENTION

本发明提供了一种自动泊车方法、装置、车辆及存储介质，可以提升自动泊车过程的安全性。The present invention provides an automatic parking method, device, vehicle and storage medium, which can improve the safety of the automatic parking process.

根据本发明的一方面，提供了一种自动泊车方法，应用于车辆，包括：According to an aspect of the present invention, an automatic parking method is provided, applied to a vehicle, comprising:

检测到目标车辆进入泊车模式后，通过目标车辆中的自动泊车控制器，实时获取目标车辆对应的泊车路径信息；After detecting that the target vehicle enters the parking mode, obtain the parking path information corresponding to the target vehicle in real time through the automatic parking controller in the target vehicle;

通过所述自动泊车控制器将所述泊车路径信息，发送至目标车辆中的抬头显示控制器；Send the parking path information to the head-up display controller in the target vehicle through the automatic parking controller;

通过所述抬头显示控制器，将所述泊车路径信息显示在目标车辆中的风挡玻璃上，以指示用户根据风挡玻璃上显示的泊车路径信息，控制所述目标车辆进行泊车。The head-up display controller displays the parking path information on the windshield of the target vehicle to instruct the user to control the target vehicle to park according to the parking path information displayed on the windshield.

根据本发明的另一方面，提供了一种自动泊车装置，应用于车辆，所述装置包括：According to another aspect of the present invention, there is provided an automatic parking device applied to a vehicle, the device comprising:

路径获取模块，用于检测到目标车辆进入泊车模式后，通过目标车辆中的自动泊车控制器，实时获取目标车辆对应的泊车路径信息；The path acquisition module is used to acquire the parking path information corresponding to the target vehicle in real time through the automatic parking controller in the target vehicle after detecting that the target vehicle enters the parking mode;

路径发送模块，用于通过所述自动泊车控制器将所述泊车路径信息，发送至目标车辆中的抬头显示控制器；a path sending module, configured to send the parking path information to the head-up display controller in the target vehicle through the automatic parking controller;

路径显示模块，用于通过所述抬头显示控制器，将所述泊车路径信息显示在目标车辆中的风挡玻璃上，以指示用户根据风挡玻璃上显示的泊车路径信息，控制所述目标车辆进行泊车。A path display module, configured to display the parking path information on the windshield glass of the target vehicle through the head-up display controller, so as to instruct the user to control the target vehicle according to the parking path information displayed on the windshield glass Park.

根据本发明的另一方面，提供了一种车辆，所述车辆包括：According to another aspect of the present invention, there is provided a vehicle comprising:

至少一个处理器；以及at least one processor; and

与所述至少一个处理器通信连接的存储器；其中，a memory communicatively coupled to the at least one processor; wherein,

所述存储器存储有可被所述至少一个处理器执行的计算机程序，所述计算机程序被所述至少一个处理器执行，以使所述至少一个处理器能够执行本发明任一实施例所述的自动泊车方法。The memory stores a computer program executable by the at least one processor, the computer program being executed by the at least one processor to enable the at least one processor to perform any of the embodiments of the present invention. Automatic parking method.

根据本发明的另一方面，提供了一种计算机可读存储介质，所述计算机可读存储介质存储有计算机指令，所述计算机指令用于使处理器执行时实现本发明任一实施例所述的自动泊车方法。According to another aspect of the present invention, a computer-readable storage medium is provided, where computer instructions are stored in the computer-readable storage medium, and the computer instructions are used to cause a processor to implement any of the embodiments of the present invention when executed. automatic parking method.

本发明实施例提供的技术方案，通过检测到目标车辆进入泊车模式后，通过目标车辆中的自动泊车控制器，实时获取目标车辆对应的泊车路径信息，通过自动泊车控制器将泊车路径信息，发送至目标车辆中的抬头显示控制器，通过抬头显示控制器将泊车路径信息显示在目标车辆中的风挡玻璃上的技术手段，可以提升自动泊车过程的安全性。According to the technical solution provided by the embodiments of the present invention, after detecting that the target vehicle enters the parking mode, the automatic parking controller in the target vehicle obtains the parking path information corresponding to the target vehicle in real time, and the automatic parking controller stores the parking path information of the target vehicle in real time. The vehicle path information is sent to the head-up display controller in the target vehicle, and the technical means of displaying the parking path information on the windshield of the target vehicle through the head-up display controller can improve the safety of the automatic parking process.

应当理解，本部分所描述的内容并非旨在标识本发明的实施例的关键或重要特征，也不用于限制本发明的范围。本发明的其它特征将通过以下的说明书而变得容易理解。It should be understood that the content described in this section is not intended to identify key or critical features of the embodiments of the invention, nor is it intended to limit the scope of the invention. Other features of the present invention will become readily understood from the following description.

附图说明Description of drawings

为了更清楚地说明本发明实施例中的技术方案，下面将对实施例描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。In order to illustrate the technical solutions in the embodiments of the present invention more clearly, the following briefly introduces the accompanying drawings used in the description of the embodiments. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can also be obtained from these drawings without creative effort.

图1是根据本发明实施例一提供的一种自动泊车方法的流程图；1 is a flowchart of an automatic parking method provided according to Embodiment 1 of the present invention;

图2是根据本发明实施例二提供的一种自动泊车方法的流程图；2 is a flowchart of an automatic parking method according to Embodiment 2 of the present invention;

图3是根据本发明实施例三提供的一种自动泊车方法的流程图；3 is a flowchart of an automatic parking method according to Embodiment 3 of the present invention;

图4是根据本发明实施例四提供的一种自动泊车装置的结构示意图；4 is a schematic structural diagram of an automatic parking device according to Embodiment 4 of the present invention;

图5是实现本发明实施例的自动泊车方法的车辆的结构示意图。FIG. 5 is a schematic structural diagram of a vehicle implementing the automatic parking method according to an embodiment of the present invention.

具体实施方式Detailed ways

为了使本技术领域的人员更好地理解本发明方案，下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分的实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都应当属于本发明保护的范围。In order to make those skilled in the art better understand the solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only Embodiments are part of the present invention, but not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

需要说明的是，本发明的说明书和权利要求书及上述附图中的术语“第一”、“第二”等是用于区别类似的对象，而不必用于描述特定的顺序或先后次序。应该理解这样使用的数据在适当情况下可以互换，以便这里描述的本发明的实施例能够以除了在这里图示或描述的那些以外的顺序实施。此外，术语“包括”和“具有”以及他们的任何变形，意图在于覆盖不排他的包含，例如，包含了一系列步骤或单元的过程、方法、系统、产品或设备不必限于清楚地列出的那些步骤或单元，而是可包括没有清楚地列出的或对于这些过程、方法、产品或设备固有的其它步骤或单元。It should be noted that the terms "first", "second" and the like in the description and claims of the present invention and the above drawings are used to distinguish similar objects, and are not necessarily used to describe a specific sequence or sequence. It is to be understood that the data so used may be interchanged under appropriate circumstances such that the embodiments of the invention described herein can be practiced in sequences other than those illustrated or described herein. Furthermore, the terms "comprising" and "having" and any variations thereof, are intended to cover non-exclusive inclusion, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those expressly listed Rather, those steps or units may include other steps or units not expressly listed or inherent to these processes, methods, products or devices.

实施例一Example 1

图1为本发明实施例一提供的一种自动泊车方法的流程图，本实施例可适用于对车辆进行泊车的情况，该方法可以由自动泊车装置来执行，该自动泊车装置可以采用硬件和/或软件的形式实现，该自动泊车装置可配置于车辆中。如图1所示，该方法包括：FIG. 1 is a flowchart of an automatic parking method according to Embodiment 1 of the present invention. This embodiment can be applied to the situation of parking a vehicle. The method can be executed by an automatic parking device. The automatic parking device It can be implemented in the form of hardware and/or software, and the automatic parking device can be configured in the vehicle. As shown in Figure 1, the method includes:

步骤110、检测到目标车辆进入泊车模式后，通过目标车辆中的自动泊车控制器，实时获取目标车辆对应的泊车路径信息。Step 110: After detecting that the target vehicle enters the parking mode, obtain the parking path information corresponding to the target vehicle in real time through the automatic parking controller in the target vehicle.

在本实施例中，所述目标车辆即为执行自动泊车方法的车辆。可选的，在目标车辆的行驶过程中，如果用户想要对目标车辆进行泊车，并且发现目标车辆周围存在目标车位时，则可以向目标车辆触发泊车启动指令。在接收到用户触发的泊车启动指令后，则可以确定目标车辆进入了泊车模式。In this embodiment, the target vehicle is the vehicle that executes the automatic parking method. Optionally, during the driving of the target vehicle, if the user wants to park the target vehicle and finds that there is a target parking space around the target vehicle, a parking start instruction may be triggered to the target vehicle. After receiving the parking start instruction triggered by the user, it can be determined that the target vehicle has entered the parking mode.

在此步骤中，检测到目标车辆进入泊车模式后，可以通过目标车辆中预设的传感器，对目标车辆周围预设范围内的环境信息进行扫描，得到目标车辆周围存在的目标车位的位置信息，然后根据目标车辆的当前位置信息以及目标车位的位置信息，生成与所述目标车辆对应的泊车路径信息。In this step, after it is detected that the target vehicle enters the parking mode, the environmental information within the preset range around the target vehicle can be scanned through the preset sensors in the target vehicle to obtain the location information of the target parking spaces existing around the target vehicle , and then generate parking path information corresponding to the target vehicle according to the current position information of the target vehicle and the position information of the target parking space.

在一个具体的实施例中，所述泊车路径信息中可以包括泊车过程中目标车辆对应的转向、车速以及行驶距离等信息。In a specific embodiment, the parking path information may include information such as steering, vehicle speed, and travel distance corresponding to the target vehicle during the parking process.

步骤120、通过所述自动泊车控制器将所述泊车路径信息，发送至目标车辆中的抬头显示控制器。Step 120: Send the parking path information to the head-up display controller in the target vehicle through the automatic parking controller.

在本实施例中，所述抬头显示控制器是一种集成抬头显示技术(Head UpDisplay，HUD)的设备，用于把车辆的时速以及导航等行车信息，投影到车辆前面的风挡玻璃上，以使用户尽量做到不低头、不转头就能看到车辆的行驶信息。In this embodiment, the head-up display controller is a device integrating head-up display technology (Head Up Display, HUD), which is used to project the vehicle's speed and navigation and other driving information on the windshield in front of the vehicle, so as to The user can see the driving information of the vehicle without looking down or turning his head as far as possible.

步骤130、通过所述抬头显示控制器，将所述泊车路径信息显示在目标车辆中的风挡玻璃上，以指示用户根据风挡玻璃上显示的泊车路径信息，控制所述目标车辆进行泊车。Step 130: Display the parking path information on the windshield of the target vehicle through the head-up display controller to instruct the user to control the target vehicle to park according to the parking path information displayed on the windshield. .

在本实施例中，所述抬头显示控制器中可以包括图像生成单元和光学显示单元。抬头显示控制器接收到泊车路径信息后，可以通过图像生成单元生成泊车路径图像，然后通过光学显示单元将泊车路径图像显示在目标车辆前方的风挡玻璃上。用户可以根据风挡玻璃上的泊车路径图像，控制所述目标车辆进行泊车。In this embodiment, the head-up display controller may include an image generating unit and an optical display unit. After receiving the parking path information, the head-up display controller can generate the parking path image through the image generation unit, and then display the parking path image on the windshield in front of the target vehicle through the optical display unit. The user can control the target vehicle to park according to the parking path image on the windshield.

在本实施例中，通过将自动泊车过程相关的行驶信息显示在前风挡玻璃上，可以避免用户低头观察泊车信息导致视线来回跳转的问题，由此可以提升自动泊车过程的安全性，使得自动泊车过程中人机交互更加方便，优化用户对自动泊车系统的使用体验。In this embodiment, by displaying the driving information related to the automatic parking process on the front windshield, it can avoid the problem of the user's eyes jumping back and forth due to looking down at the parking information, thereby improving the safety of the automatic parking process. , which makes the human-computer interaction more convenient during the automatic parking process and optimizes the user experience of the automatic parking system.

实施例二Embodiment 2

图2为本发明实施例二提供的一种自动泊车方法的流程图，本实施例与对上述实施例的细化。如图2所示，该方法包括：FIG. 2 is a flowchart of an automatic parking method according to Embodiment 2 of the present invention, which is a refinement of this embodiment and the above-mentioned embodiment. As shown in Figure 2, the method includes:

步骤210、检测到用户触发对目标车辆的泊车请求后，通过目标车辆中的自动泊车控制器，将所述目标车辆对应的备选车位信息，发送至所述抬头显示控制器。Step 210 , after detecting that the user triggers the parking request for the target vehicle, send the candidate parking space information corresponding to the target vehicle to the head-up display controller through the automatic parking controller in the target vehicle.

在本实施例中，在目标车辆的行驶过程中，如果用户想要对目标车辆进行泊车，则可以向目标车辆触发泊车请求。在检测到用户触发泊车请求后，目标车辆上的传感器可以对目标车辆周围预设范围内的环境信息进行扫描，然后将扫描结果发送至自动泊车控制器。自动泊车控制器可以根据预先集成的识别算法，对扫描结果进行识别，得到目标车辆周围存在的多个备选车位。In this embodiment, during the driving process of the target vehicle, if the user wants to park the target vehicle, a parking request may be triggered to the target vehicle. After detecting a user-triggered parking request, the sensors on the target vehicle can scan the environmental information within a preset range around the target vehicle, and then send the scan results to the automatic parking controller. The automatic parking controller can identify the scanning results according to the pre-integrated identification algorithm, and obtain multiple alternative parking spaces around the target vehicle.

在此步骤中，自动泊车控制器可以将各备选车位对应的信息(也即备选车位信息)发送至抬头显示控制器。具体的，所述备选车位信息中可以包括备选车位的位置信息以及尺寸信息等。In this step, the automatic parking controller may send the information corresponding to each candidate parking space (that is, the candidate parking space information) to the head-up display controller. Specifically, the candidate parking space information may include location information and size information of the candidate parking space, and the like.

步骤220、通过所述抬头显示控制器，将所述备选车位信息显示在目标车辆中的风挡玻璃上。Step 220: Display the candidate parking space information on the windshield of the target vehicle through the head-up display controller.

在本实施例中，抬头显示控制器接收到备选车位信息后，可以通过图像生成单元生成备选车位图像，然后通过光学显示单元将各备选车位图像显示在目标车辆前方的风挡玻璃上。可选的，光学显示单元可以通过高亮、或者特殊颜色绘制的方式，将备选车位图像显示在风挡玻璃上，并通过目标车辆中预设的语音播放单元，向用户播放备选车位的相关信息，以提示用户在多个备选车位中选择目标车位。In this embodiment, after receiving the candidate parking space information, the head-up display controller can generate an image of the candidate parking space through the image generating unit, and then display each candidate parking space image on the windshield in front of the target vehicle through the optical display unit. Optionally, the optical display unit can display the image of the alternative parking space on the windshield by highlighting or drawing in a special color, and play the relevant information of the alternative parking space to the user through the preset voice playback unit in the target vehicle. information to prompt the user to select the target parking space among multiple alternative parking spaces.

由此，通过自动泊车控制器主动识别目标车辆周围的备选车位，可以减少用户寻找车位所消耗的时间，提高用户对车辆的驾驶体验。Therefore, the automatic parking controller can actively identify the candidate parking spaces around the target vehicle, which can reduce the time consumed by the user to search for a parking space and improve the user's driving experience of the vehicle.

步骤230、接收到用户针对目标车位触发的确认指令后，确定所述目标车辆进入泊车模式。Step 230: After receiving the confirmation instruction triggered by the user for the target parking space, it is determined that the target vehicle enters the parking mode.

在此步骤中，可选的，用户可以通过方向盘处的确定按钮，在多个备选车位中选择目标车位。In this step, optionally, the user can select a target parking space from among multiple candidate parking spaces through the determination button on the steering wheel.

步骤240、通过所述自动泊车控制器，根据目标车位的位置信息，以及目标车辆的位置信息，生成与所述目标车辆对应的泊车路径信息。Step 240: Generate, through the automatic parking controller, parking path information corresponding to the target vehicle according to the location information of the target parking space and the location information of the target vehicle.

在本实施例中，可选的，所述自动泊车控制器中预先集成了路径规划、位姿估算以及车辆横纵向控制等算法。可选的，所述自动泊车控制器可以根据目标车位的位置信息、目标车辆的位置信息以及预先集成的算法，生成与目标车辆对应的泊车路径信息。In this embodiment, optionally, algorithms such as path planning, pose estimation, and vehicle lateral and longitudinal control are pre-integrated into the automatic parking controller. Optionally, the automatic parking controller may generate parking path information corresponding to the target vehicle according to the position information of the target parking space, the position information of the target vehicle and a pre-integrated algorithm.

步骤250、通过所述自动泊车控制器将所述泊车路径信息，发送至目标车辆中的抬头显示控制器。Step 250: Send the parking path information to the head-up display controller in the target vehicle through the automatic parking controller.

步骤260、通过所述抬头显示控制器，将所述泊车路径信息显示在目标车辆中的风挡玻璃上，以指示用户根据风挡玻璃上显示的泊车路径信息，控制所述目标车辆进行泊车。Step 260: Display the parking path information on the windshield of the target vehicle through the head-up display controller to instruct the user to control the target vehicle to park according to the parking path information displayed on the windshield. .

在本实施例的一个实施方式中，在通过目标车辆中的自动泊车控制器，将所述目标车辆对应的备选车位信息，发送至所述抬头显示控制器之后，还包括：通过目标车辆中的自动泊车控制器，将所述目标车辆的车辆信息，以及目标车辆周围预设范围内的环境信息，发送至所述抬头显示控制器；通过所述抬头显示控制器，将所述车辆信息以及环境信息显示在目标车辆中的风挡玻璃上。In an implementation of this embodiment, after sending the candidate parking space information corresponding to the target vehicle to the head-up display controller through the automatic parking controller in the target vehicle, the method further includes: using the target vehicle The automatic parking controller in the head-up display controller sends the vehicle information of the target vehicle and the environmental information within a preset range around the target vehicle to the head-up display controller; through the head-up display controller, the vehicle Information along with ambient information is displayed on the windshield in the target vehicle.

在一个具体的实施例中，所述车辆信息包括目标车辆的实时位置信息、档位信息以及车速信息；所述环境信息包括目标车辆周围预设范围内的其他车辆信息，以及障碍物信息。In a specific embodiment, the vehicle information includes real-time position information, gear position information and vehicle speed information of the target vehicle; the environment information includes other vehicle information and obstacle information within a preset range around the target vehicle.

这样设置的好处在于，可以便于用户根据目标车辆的车辆信息，以及目标车辆周围的环境信息，选择最合适的目标车位。The advantage of this setting is that it is convenient for the user to select the most suitable target parking space according to the vehicle information of the target vehicle and the environment information around the target vehicle.

本发明实施例提供的技术方案，通过检测到用户触发对目标车辆的泊车请求后，通过目标车辆中的自动泊车控制器，将目标车辆对应的备选车位信息发送至抬头显示控制器，通过抬头显示控制器将备选车位信息显示在风挡玻璃上，接收到用户针对目标车位触发的确认指令后，确定目标车辆进入泊车模式，通过自动泊车控制器根据目标车位的位置信息，以及目标车辆的位置信息，生成与目标车辆对应的泊车路径信息，通过自动泊车控制器将泊车路径信息发送至抬头显示控制器，通过抬头显示控制器将泊车路径信息显示在风挡玻璃上的技术手段，可以提升自动泊车过程的安全性。According to the technical solution provided by the embodiment of the present invention, after detecting that the user triggers the parking request for the target vehicle, the automatic parking controller in the target vehicle sends the candidate parking space information corresponding to the target vehicle to the head-up display controller, Display the alternative parking space information on the windshield through the head-up display controller, after receiving the confirmation command triggered by the user for the target parking space, determine that the target vehicle enters the parking mode, and use the automatic parking controller according to the location information of the target parking space, and The location information of the target vehicle, generate the parking path information corresponding to the target vehicle, send the parking path information to the head-up display controller through the automatic parking controller, and display the parking path information on the windshield through the head-up display controller It can improve the safety of automatic parking process.

实施例三Embodiment 3

图3为本发明实施例三提供的一种自动泊车方法的流程图，本实施例与上述实施例之间的关系是追加了确定舆情风险评分的技术特征。如图3所示，该方法包括：FIG. 3 is a flowchart of an automatic parking method according to Embodiment 3 of the present invention. The relationship between this embodiment and the above-mentioned embodiment is that a technical feature of determining a public opinion risk score is added. As shown in Figure 3, the method includes:

步骤310、检测到目标车辆进入泊车模式后，通过目标车辆中的自动泊车控制器，实时获取目标车辆对应的泊车路径信息。Step 310: After detecting that the target vehicle enters the parking mode, obtain the parking path information corresponding to the target vehicle in real time through the automatic parking controller in the target vehicle.

步骤320、通过所述自动泊车控制器将所述泊车路径信息，发送至目标车辆中的抬头显示控制器。Step 320: Send the parking path information to the head-up display controller in the target vehicle through the automatic parking controller.

步骤330、通过所述抬头显示控制器，将所述泊车路径信息显示在目标车辆中的风挡玻璃上，以指示用户根据风挡玻璃上显示的泊车路径信息，控制所述目标车辆进行泊车。Step 330: Display the parking path information on the windshield of the target vehicle through the head-up display controller to instruct the user to control the target vehicle to park according to the parking path information displayed on the windshield. .

步骤340、在用户控制目标车辆进行泊车的过程中，通过自动泊车控制器将所述目标车辆的位置信息、目标车辆周围预设范围内的障碍物信息以及泊车进度信息，发送至抬头显示控制器。Step 340: During the process that the user controls the target vehicle to park, the automatic parking controller sends the position information of the target vehicle, the obstacle information within the preset range around the target vehicle, and the parking progress information to the head. Display controller.

在本实施例中，可选的，自动泊车控制器可以根据目标车辆的实时位置信息，以及泊车路径信息，计算泊车进度信息。In this embodiment, optionally, the automatic parking controller may calculate the parking progress information according to the real-time position information of the target vehicle and the parking path information.

步骤350、通过所述抬头显示控制器，将所述目标车辆的位置信息、目标车辆周围预设范围内的障碍物信息以及泊车进度信息，显示在风挡玻璃上。Step 350: Display the position information of the target vehicle, the obstacle information within a preset range around the target vehicle, and the parking progress information on the windshield through the head-up display controller.

在本实施例中，在泊车过程中，用户通过前风挡玻璃可以实时观察目标车辆的周围环境，一方面可以提升自动泊车过程的安全性，另一方面可以提高车辆的泊车效率。In this embodiment, during the parking process, the user can observe the surrounding environment of the target vehicle in real time through the front windshield. On the one hand, the safety of the automatic parking process can be improved, and on the other hand, the parking efficiency of the vehicle can be improved.

在一个具体的实施例中，自动泊车控制器还可以将整个泊车过程中包括的各个泊车步骤以及目标车辆对应的当前泊车步骤，发送至抬头显示控制器，抬头显示控制器可以将全部泊车步骤显示在风挡玻璃上，并对当前泊车步骤进行高亮显示，以提示用户按照所述泊车步骤，控制目标车辆进行泊车。In a specific embodiment, the automatic parking controller can also send each parking step included in the entire parking process and the current parking step corresponding to the target vehicle to the head-up display controller, and the head-up display controller can send the All parking steps are displayed on the windshield, and the current parking step is highlighted to prompt the user to control the target vehicle to park according to the parking steps.

步骤360、在用户控制目标车辆进行泊车的过程中，通过自动泊车控制器检测到目标车辆出现泊车异常时，将所述目标车辆对应的泊车异常信息发送至抬头显示控制器。Step 360: When the user controls the target vehicle to park, when the automatic parking controller detects that the target vehicle has a parking abnormality, the abnormal parking information corresponding to the target vehicle is sent to the head-up display controller.

在本实施例中，所述泊车异常可以包括目标车辆与障碍物发生碰撞、以及目标车辆自身的驾驶系统发生异常等。In this embodiment, the parking abnormality may include a collision between the target vehicle and an obstacle, and an abnormality in the driving system of the target vehicle itself.

步骤370、通过所述抬头显示控制器，将所述泊车异常信息显示在风挡玻璃上。Step 370: Display the abnormal parking information on the windshield through the head-up display controller.

这样设置的好处在于，可以快速有效地将异常信息提示给用户，便于用户对异常信息进行解决。The advantage of this setting is that the abnormal information can be quickly and effectively prompted to the user, which is convenient for the user to solve the abnormal information.

步骤380、检测到目标车辆完成泊车后，通过自动泊车控制器将泊车完成信息发送至抬头显示控制器。Step 380: After detecting that the target vehicle has completed parking, the automatic parking controller sends the parking completion information to the head-up display controller.

在此步骤中，可选的，自动泊车控制器根据目标车辆的位置信息，检测到目标车辆完成泊车后，可以将泊车完成信息发送至抬头显示控制器。In this step, optionally, the automatic parking controller may send the parking completion information to the head-up display controller after detecting that the target vehicle has completed parking according to the position information of the target vehicle.

步骤390、通过所述抬头显示控制器，将所述泊车完成信息显示在风挡玻璃上。Step 390: Display the parking completion information on the windshield through the head-up display controller.

这样设置的好处在于，可以提示用户泊车过程已经结束，目标车辆处于安全状态，由此提高用户对目标车辆的驾驶体验。The advantage of this setting is that the user can be prompted that the parking process has ended and the target vehicle is in a safe state, thereby improving the user's driving experience of the target vehicle.

本发明实施例提供的技术方案，通过检测到目标车辆进入泊车模式后，通过自动泊车控制器实时获取目标车辆对应的泊车路径信息，通过自动泊车控制器将泊车路径信息发送至抬头显示控制器，通过抬头显示控制器将泊车路径信息显示在风挡玻璃上，通过自动泊车控制器将目标车辆的位置信息、周围的障碍物信息以及泊车进度信息发送至抬头显示控制器，通过抬头显示控制器将目标车辆的位置信息、周围的障碍物信息以及泊车进度信息显示在风挡玻璃上，通过自动泊车控制器将泊车异常信息发送至抬头显示控制器，通过抬头显示控制器将泊车异常信息显示在风挡玻璃上，检测到目标车辆完成泊车后，通过自动泊车控制器将泊车完成信息发送至抬头显示控制器，通过抬头显示控制器将泊车完成信息显示在风挡玻璃上的技术手段，可以提升自动泊车过程的安全性。In the technical solution provided by the embodiments of the present invention, after detecting that the target vehicle enters the parking mode, the automatic parking controller obtains the parking path information corresponding to the target vehicle in real time, and the automatic parking controller sends the parking path information to The head-up display controller displays the parking path information on the windshield through the head-up display controller, and sends the position information of the target vehicle, surrounding obstacle information and parking progress information to the head-up display controller through the automatic parking controller , the position information of the target vehicle, surrounding obstacle information and parking progress information are displayed on the windshield through the head-up display controller, and the abnormal parking information is sent to the head-up display controller through the automatic parking controller. The controller displays the abnormal parking information on the windshield. After detecting that the target vehicle has completed parking, it sends the parking completion information to the head-up display controller through the automatic parking controller, and the parking completion information is sent to the head-up display controller through the head-up display controller. The technical means displayed on the windshield can improve the safety of the automatic parking process.

实施例四Embodiment 4

图4为本发明实施例四提供的一种自动泊车装置的结构示意图，如图4所示，该装置包括：路径获取模块410、路径发送模块420和路径显示模块430。FIG. 4 is a schematic structural diagram of an automatic parking device according to Embodiment 4 of the present invention. As shown in FIG. 4 , the device includes: apath acquisition module 410 , apath sending module 420 , and apath display module 430 .

其中，路径获取模块410，用于检测到目标车辆进入泊车模式后，通过目标车辆中的自动泊车控制器，实时获取目标车辆对应的泊车路径信息；Wherein, thepath obtaining module 410 is configured to obtain the parking path information corresponding to the target vehicle in real time through the automatic parking controller in the target vehicle after detecting that the target vehicle has entered the parking mode;

路径发送模块420，用于通过所述自动泊车控制器将所述泊车路径信息，发送至目标车辆中的抬头显示控制器；apath sending module 420, configured to send the parking path information to the head-up display controller in the target vehicle through the automatic parking controller;

路径显示模块430，用于通过所述抬头显示控制器，将所述泊车路径信息显示在目标车辆中的风挡玻璃上，以指示用户根据风挡玻璃上显示的泊车路径信息，控制所述目标车辆进行泊车。Thepath display module 430 is configured to display the parking path information on the windshield in the target vehicle through the head-up display controller, so as to instruct the user to control the target according to the parking path information displayed on the windshield The vehicle is parked.

在上述实施例的基础上，所述路径获取模块410包括：On the basis of the above embodiment, thepath obtaining module 410 includes:

车位信息发送单元，用于检测到用户触发对目标车辆的泊车请求后，通过目标车辆中的自动泊车控制器，将所述目标车辆对应的备选车位信息，发送至所述抬头显示控制器；The parking space information sending unit is used to send the candidate parking space information corresponding to the target vehicle to the head-up display control unit through the automatic parking controller in the target vehicle after detecting that the user triggers the parking request for the target vehicle device;

车位信息显示单元，用于通过所述抬头显示控制器，将所述备选车位信息显示在目标车辆中的风挡玻璃上；a parking space information display unit, configured to display the candidate parking space information on the windshield of the target vehicle through the head-up display controller;

确认指令接收单元，用于接收到用户针对目标车位触发的确认指令后，确定所述目标车辆进入泊车模式；a confirmation instruction receiving unit, configured to determine that the target vehicle enters the parking mode after receiving the confirmation instruction triggered by the user for the target parking space;

环境信息发送单元，用于通过目标车辆中的自动泊车控制器，将所述目标车辆的车辆信息，以及目标车辆周围预设范围内的环境信息，发送至所述抬头显示控制器；an environmental information sending unit, configured to send vehicle information of the target vehicle and environmental information within a preset range around the target vehicle to the head-up display controller through an automatic parking controller in the target vehicle;

环境信息显示单元，用于通过所述抬头显示控制器，将所述车辆信息以及环境信息显示在目标车辆中的风挡玻璃上；an environmental information display unit, configured to display the vehicle information and the environmental information on the windshield of the target vehicle through the head-up display controller;

其中，所述车辆信息包括目标车辆的位置信息、档位信息以及车速信息；所述环境信息包括目标车辆周围预设范围内的其他车辆信息，以及障碍物信息；Wherein, the vehicle information includes position information, gear position information and vehicle speed information of the target vehicle; the environment information includes other vehicle information and obstacle information within a preset range around the target vehicle;

路径生成单元，用于通过所述自动泊车控制器，根据目标车位的位置信息，以及目标车辆的位置信息，生成与所述目标车辆对应的泊车路径信息。The path generating unit is configured to generate, through the automatic parking controller, parking path information corresponding to the target vehicle according to the position information of the target parking space and the position information of the target vehicle.

所述路径显示模块430包括：Thepath display module 430 includes:

进度信息发送单元，用于在用户控制目标车辆进行泊车的过程中，通过自动泊车控制器将所述目标车辆的位置信息、目标车辆周围预设范围内的障碍物信息以及泊车进度信息，发送至抬头显示控制器；The progress information sending unit is used to send the position information of the target vehicle, the obstacle information in the preset range around the target vehicle and the parking progress information through the automatic parking controller during the process of the user controlling the target vehicle to park. , sent to the head-up display controller;

进度信息显示单元，用于通过所述抬头显示控制器，将所述目标车辆的位置信息、目标车辆周围预设范围内的障碍物信息以及泊车进度信息，显示在风挡玻璃上；a progress information display unit, configured to display the position information of the target vehicle, the obstacle information within a preset range around the target vehicle and the parking progress information on the windshield through the head-up display controller;

异常信息发送单元，用于在用户控制目标车辆进行泊车的过程中，通过自动泊车控制器检测到目标车辆出现泊车异常时，将所述目标车辆对应的泊车异常信息发送至抬头显示控制器；The abnormality information sending unit is used to send the abnormal parking information corresponding to the target vehicle to the head-up display when the automatic parking controller detects that the target vehicle is abnormally parked during the process that the user controls the target vehicle to park. controller;

异常信息显示单元，用于通过所述抬头显示控制器，将所述泊车异常信息显示在风挡玻璃上；an abnormality information display unit, used for displaying the parking abnormality information on the windshield through the head-up display controller;

完成信息发送单元，用于检测到目标车辆完成泊车后，通过自动泊车控制器将泊车完成信息发送至抬头显示控制器；The completion information sending unit is used to send the parking completion information to the head-up display controller through the automatic parking controller after detecting that the target vehicle has completed parking;

完成信息显示单元，用于通过所述抬头显示控制器，将所述泊车完成信息显示在风挡玻璃上。A completion information display unit is configured to display the parking completion information on the windshield through the head-up display controller.

上述装置可执行本发明前述所有实施例所提供的方法，具备执行上述方法相应的功能模块和有益效果。未在本发明实施例中详尽描述的技术细节，可参见本发明前述所有实施例所提供的方法。The above-mentioned apparatus can execute the methods provided by all the foregoing embodiments of the present invention, and has corresponding functional modules and beneficial effects for executing the above-mentioned methods. For technical details not described in detail in the embodiments of the present invention, reference may be made to the methods provided by all the foregoing embodiments of the present invention.

实施例五Embodiment 5

图5示出了可以用来实施本发明的实施例的车辆10的结构示意图。本文所示的部件、它们的连接和关系、以及它们的功能仅仅作为示例，并且不意在限制本文中描述的和/或者要求的本发明的实现。FIG. 5 shows a schematic structural diagram of avehicle 10 that may be used to implement embodiments of the present invention. The components shown herein, their connections and relationships, and their functions are by way of example only, and are not intended to limit implementations of the inventions described and/or claimed herein.

如图5所示，车辆10包括至少一个处理器11，以及与至少一个处理器11通信连接的存储器，如只读存储器(ROM)12、随机访问存储器(RAM)13等，其中，存储器存储有可被至少一个处理器执行的计算机程序，处理器11可以根据存储在只读存储器(ROM)12中的计算机程序或者从存储单元18加载到随机访问存储器(RAM)13中的计算机程序，来执行各种适当的动作和处理。在RAM 13中，还可存储车辆10操作所需的各种程序和数据。处理器11、ROM12以及RAM 13通过总线14彼此相连。输入/输出(I/O)接口15也连接至总线14。As shown in FIG. 5 , thevehicle 10 includes at least oneprocessor 11, and a memory, such as a read only memory (ROM) 12, a random access memory (RAM) 13, etc., connected in communication with the at least oneprocessor 11, wherein the memory stores a A computer program executable by at least one processor, theprocessor 11 can execute according to a computer program stored in a read only memory (ROM) 12 or a computer program loaded from astorage unit 18 into a random access memory (RAM) 13 Various appropriate actions and handling. In theRAM 13, various programs and data necessary for the operation of thevehicle 10 can also be stored. Theprocessor 11 , theROM 12 and theRAM 13 are connected to each other through abus 14 . An input/output (I/O)interface 15 is also connected to thebus 14 .

车辆10中的多个部件连接至I/O接口15，包括：输入单元16，例如键盘、鼠标等；输出单元17，例如各种类型的显示器、扬声器等；存储单元18，例如磁盘、光盘等；以及通信单元19，例如网卡、调制解调器、无线通信收发机等。通信单元19允许车辆10通过诸如因特网的计算机网络和/或各种电信网络与其他设备交换信息/数据。Various components in thevehicle 10 are connected to the I/O interface 15, including: aninput unit 16, such as a keyboard, mouse, etc.; anoutput unit 17, such as various types of displays, speakers, etc.; astorage unit 18, such as a magnetic disk, an optical disk, etc. ; and acommunication unit 19, such as a network card, a modem, a wireless communication transceiver, and the like. Thecommunication unit 19 allows thevehicle 10 to exchange information/data with other devices through a computer network such as the Internet and/or various telecommunication networks.

处理器11可以是各种具有处理和计算能力的通用和/或专用处理组件。处理器11的一些示例包括但不限于中央处理单元(CPU)、图形处理单元(GPU)、各种专用的人工智能(AI)计算芯片、各种运行机器学习模型算法的处理器、数字信号处理器(DSP)、以及任何适当的处理器、控制器、微控制器等。处理器11执行上文所描述的各个方法和处理，例如自动泊车方法。Theprocessor 11 may be various general and/or special purpose processing components having processing and computing capabilities. Some examples ofprocessors 11 include, but are not limited to, central processing units (CPUs), graphics processing units (GPUs), various specialized artificial intelligence (AI) computing chips, various processors that run machine learning model algorithms, digital signal processing processor (DSP), and any suitable processor, controller, microcontroller, etc. Theprocessor 11 performs the various methods and processes described above, such as the automatic parking method.

在一些实施例中，自动泊车方法可被实现为计算机程序，其被有形地包含于计算机可读存储介质，例如存储单元18。在一些实施例中，计算机程序的部分或者全部可以经由ROM 12和/或通信单元19而被载入和/或安装到车辆10上。当计算机程序加载到RAM 13并由处理器11执行时，可以执行上文描述的自动泊车方法的一个或多个步骤。备选地，在其他实施例中，处理器11可以通过其他任何适当的方式(例如，借助于固件)而被配置为执行自动泊车方法。In some embodiments, the automatic parking method may be implemented as a computer program tangibly embodied in a computer-readable storage medium, such asstorage unit 18 . In some embodiments, part or all of the computer program may be loaded and/or installed on thevehicle 10 via theROM 12 and/or thecommunication unit 19 . When the computer program is loaded into theRAM 13 and executed by theprocessor 11, one or more steps of the automatic parking method described above may be performed. Alternatively, in other embodiments, theprocessor 11 may be configured to perform the automatic parking method by any other suitable means (eg, by means of firmware).

本文中以上描述的系统和技术的各种实施方式可以在数字电子电路系统、集成电路系统、场可编程门阵列(FPGA)、专用集成电路(ASIC)、专用标准产品(ASSP)、芯片上系统的系统(SOC)、负载可编程逻辑设备(CPLD)、计算机硬件、固件、软件、和/或它们的组合中实现。这些各种实施方式可以包括：实施在一个或者多个计算机程序中，该一个或者多个计算机程序可在包括至少一个可编程处理器的可编程系统上执行和/或解释，该可编程处理器可以是专用或者通用可编程处理器，可以从存储系统、至少一个输入装置、和至少一个输出装置接收数据和指令，并且将数据和指令传输至该存储系统、该至少一个输入装置、和该至少一个输出装置。Various implementations of the systems and techniques described herein above may be implemented in digital electronic circuitry, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips system (SOC), load programmable logic device (CPLD), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include being implemented in one or more computer programs executable and/or interpretable on a programmable system including at least one programmable processor that The processor, which may be a special purpose or general-purpose programmable processor, may receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device an output device.

用于实施本发明的方法的计算机程序可以采用一个或多个编程语言的任何组合来编写。这些计算机程序可以提供给通用计算机、专用计算机或其他可编程数据处理装置的处理器，使得计算机程序当由处理器执行时使流程图和/或框图中所规定的功能/操作被实施。计算机程序可以完全在机器上执行、部分地在机器上执行，作为独立软件包部分地在机器上执行且部分地在远程机器上执行或完全在远程机器或服务器上执行。Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general purpose computer, special purpose computer or other programmable data processing apparatus, such that the computer programs, when executed by the processor, cause the functions/operations specified in the flowcharts and/or block diagrams to be carried out. The computer program may execute entirely on the machine, partly on the machine, as a stand-alone software package partly on the machine and partly on a remote machine or entirely on the remote machine or server.

在本发明的上下文中，计算机可读存储介质可以是有形的介质，其可以包含或存储以供指令执行系统、装置或设备使用或与指令执行系统、装置或设备结合地使用的计算机程序。计算机可读存储介质可以包括但不限于电子的、磁性的、光学的、电磁的、红外的、或半导体系统、装置或设备，或者上述内容的任何合适组合。备选地，计算机可读存储介质可以是机器可读信号介质。机器可读存储介质的更具体示例会包括基于一个或多个线的电气连接、便携式计算机盘、硬盘、随机存取存储器(RAM)、只读存储器(ROM)、可擦除可编程只读存储器(EPROM或快闪存储器)、光纤、便捷式紧凑盘只读存储器(CD-ROM)、光学储存设备、磁储存设备、或上述内容的任何合适组合。In the context of the present invention, a computer-readable storage medium may be a tangible medium that may contain or store a computer program for use by or in connection with the instruction execution system, apparatus or device. Computer-readable storage media may include, but are not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices, or devices, or any suitable combination of the foregoing. Alternatively, the computer-readable storage medium may be a machine-readable signal medium. More specific examples of machine-readable storage media would include one or more wire-based electrical connections, portable computer disks, hard disks, random access memory (RAM), read only memory (ROM), erasable programmable read only memory (EPROM or flash memory), fiber optics, compact disk read only memory (CD-ROM), optical storage, magnetic storage, or any suitable combination of the foregoing.

为了提供与用户的交互，可以在车辆上实施此处描述的系统和技术，该车辆具有：用于向用户显示信息的显示装置(例如，CRT(阴极射线管)或者LCD(液晶显示器)监视器)；以及键盘和指向装置(例如，鼠标或者轨迹球)，用户可以通过该键盘和该指向装置来将输入提供给车辆。其它种类的装置还可以用于提供与用户的交互；例如，提供给用户的反馈可以是任何形式的传感反馈(例如，视觉反馈、听觉反馈、或者触觉反馈)；并且可以用任何形式(包括声输入、语音输入或者、触觉输入)来接收来自用户的输入。To provide interaction with a user, the systems and techniques described herein may be implemented on a vehicle having a display device (eg, a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user ); and a keyboard and pointing device (eg, mouse or trackball) through which a user can provide input to the vehicle. Other kinds of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (eg, visual feedback, auditory feedback, or tactile feedback); and can be in any form (including acoustic input, voice input, or tactile input) to receive input from the user.

可以将此处描述的系统和技术实施在包括后台部件的计算系统(例如，作为数据服务器)、或者包括中间件部件的计算系统(例如，应用服务器)、或者包括前端部件的计算系统(例如，具有图形用户界面或者网络浏览器的用户计算机，用户可以通过该图形用户界面或者该网络浏览器来与此处描述的系统和技术的实施方式交互)、或者包括这种后台部件、中间件部件、或者前端部件的任何组合的计算系统中。可以通过任何形式或者介质的数字数据通信(例如，通信网络)来将系统的部件相互连接。通信网络的示例包括：局域网(LAN)、广域网(WAN)、区块链网络和互联网。The systems and techniques described herein may be implemented on a computing system that includes back-end components (eg, as a data server), or a computing system that includes middleware components (eg, an application server), or a computing system that includes front-end components (eg, a user computer having a graphical user interface or web browser through which a user may interact with implementations of the systems and techniques described herein), or including such backend components, middleware components, Or any combination of front-end components in a computing system. The components of the system may be interconnected by any form or medium of digital data communication (eg, a communication network). Examples of communication networks include: Local Area Networks (LANs), Wide Area Networks (WANs), blockchain networks, and the Internet.

计算系统可以包括客户端和服务器。客户端和服务器一般远离彼此并且通常通过通信网络进行交互。通过在相应的计算机上运行并且彼此具有客户端-服务器关系的计算机程序来产生客户端和服务器的关系。服务器可以是云服务器，又称为云计算服务器或云主机，是云计算服务体系中的一项主机产品，以解决了传统物理主机与VPS服务中，存在的管理难度大，业务扩展性弱的缺陷。A computing system can include clients and servers. Clients and servers are generally remote from each other and usually interact through a communication network. The relationship of client and server arises by computer programs running on the respective computers and having a client-server relationship to each other. The server can be a cloud server, also known as a cloud computing server or a cloud host. It is a host product in the cloud computing service system to solve the traditional physical host and VPS services, which are difficult to manage and weak in business scalability. defect.

应该理解，可以使用上面所示的各种形式的流程，重新排序、增加或删除步骤。例如，本发明中记载的各步骤可以并行地执行也可以顺序地执行也可以不同的次序执行，只要能够实现本发明的技术方案所期望的结果，本文在此不进行限制。It should be understood that steps may be reordered, added or deleted using the various forms of flow shown above. For example, the steps described in the present invention can be performed in parallel, sequentially or in different orders, and as long as the desired results of the technical solutions of the present invention can be achieved, no limitation is imposed herein.

上述具体实施方式，并不构成对本发明保护范围的限制。本领域技术人员应该明白的是，根据设计要求和其他因素，可以进行各种修改、组合、子组合和替代。任何在本发明的精神和原则之内所作的修改、等同替换和改进等，均应包含在本发明保护范围之内。The above-mentioned specific embodiments do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions may occur depending on design requirements and other factors. Any modifications, equivalent replacements and improvements made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.