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CN-121999630-A - Parking assistance method for a vehicle, computer program product and vehicle

CN121999630ACN 121999630 ACN121999630 ACN 121999630ACN-121999630-A

Abstract

The invention relates to the technical field of vehicles, in particular to a parking assisting method for a vehicle, which comprises the following steps of S100, S200, S300, S400, analyzing and processing the acquired environmental data and the vehicle parameters to evaluate whether the parking condition of the vehicle is met or not, and S500, wherein the environmental data around the vehicle is acquired based on the parking assisting command to determine a potential parking area, the vehicle parameters of the vehicle are acquired, and the vehicle parameters at least comprise the length of a vehicle body, the width of the vehicle body and the minimum turning radius. Also relates to a computer program product and a corresponding vehicle. According to some embodiments of the invention, scientific and reasonable parking feasibility judgment can be given, so that time waste and vehicle damage risk caused by blind parking trial of a driver are effectively avoided, and the overall driving experience is improved.

Inventors

  • ZHANG QIAOJIE

Assignees

  • 梅赛德斯-奔驰集团股份公司

Dates

Publication Date
20260508
Application Date
20260204

Claims (10)

  1. 1. A parking assistance method (1000) for a vehicle (V), wherein, The parking assistance method (1000) includes the steps of: S100, acquiring a parking auxiliary instruction; S200, acquiring environmental data around the vehicle (V) based on a parking assistance instruction to determine a potential parking area (1001); s300, acquiring vehicle parameters of the vehicle (V), wherein the vehicle parameters at least comprise a vehicle body length, a vehicle body width and a minimum turning radius; S400, analyzing and processing the acquired environmental data and vehicle parameters to evaluate whether the potential parking area (1001) meets a parking condition of the vehicle (V); s500, outputting an evaluation result.
  2. 2. The parking assistance method (1000) according to claim 1, wherein, When the evaluation result in step S400 determines that the stop condition is satisfied, at least one of the following information is additionally output in step S500: Risk warning information for reminding a driver of the vehicle (V) to pay attention to avoiding a collision of vehicle components, in particular a hub and/or a tire, during driving into the potential parking area (1001), in particular a reminder about a curbstone, a green belt step or a median around the potential parking area (1001); A recommended parking path, which is presented in a visual manner, preferably in the form of an animated video or a dynamic or stepped illustration, for guiding the driver of the vehicle (V) to complete a parking maneuver in accordance with the recommended parking path, and The probability of successful parking is calculated based on cloud big data, wherein the cloud big data comprises at least one of historical parking data of a driver of the vehicle (V), historical parking data of a plurality of vehicles with the same model of the vehicle (V) in a similar scene and historical parking data of a plurality of vehicles with similar sizes of the vehicle (V) in a similar scene.
  3. 3. The parking assistance method (1000) according to claim 1 or 2, wherein, Step S400 includes the sub-steps of: S410, determining an available space size of the potential parking area (1001) based on the environment data, wherein the available space size at least comprises an available parking length (L); S420, determining a drivable width (W) of a lane (1002) entering the potential parking area (1001); s430, calculating the minimum parking space length required by the vehicle (V) to perform parking action under the limit of the drivable width (W); s440, comparing the available parking length (L) of the potential parking area (1001) with the minimum parking space length, and judging that the parking condition is met if the available parking length (L) is greater than or equal to the minimum parking space length.
  4. 4. A parking assistance method (1000) according to claim 3, wherein, Step S410 includes the sub-steps of: S411, identifying physical limits on both sides of the potential parking area (1001) based on the environmental data, for example, identifying a tail position of a front vehicle (V1) and a head position of a rear vehicle (V2) of the potential parking area (1001); S412, calculating the longitudinal distance between the physical boundaries at two sides of the potential parking area (1001) as the available parking length (L).
  5. 5. The parking assistance method (1000) according to claim 3 or 4, wherein, Step S410 includes the sub-steps of: S413 determining, based on the environmental data, whether a parking obstacle is present within the potential parking area (1001), the parking obstacle comprising, for example, a parking lock, snow, a soil pile, a raised road surface, or a temporary stack; s414, determining the size and the position of the parking obstacle in the situation that the parking obstacle exists in the potential parking area (1001); S415, correcting the available space size of the potential parking area (1001) based on the size and position of the parking obstacle.
  6. 6. The parking assistance method (1000) according to any one of claims 3 to 5, wherein, Step S420 includes the sub-steps of: S421, identifying a physical boundary (1003) on the other side of a lane (1002) entering the potential parking area (1001) based on the environmental data, wherein the physical boundary (1003) comprises road edge stones, green belts, isolation belts, walls, guardrails, steps or stationary vehicles; s422, calculating the lateral distance between the outer edge of the potential parking area (1001) and the physical boundary (1003) as the runnability width (W).
  7. 7. The parking assistance method (1000) according to any one of claims 3 to 6, wherein, When the drivable width (W) is less than a preset threshold, the recommended parking path comprises a multi-stage parking path comprising the following stages, performed in sequence: A first phase (P1) of controlling or guiding the vehicle (V) to drive obliquely into the potential parking area (1001) with the head of the vehicle facing the potential parking area (1001); A second stage (P2) of controlling or guiding the vehicle (V) to exit the potential parking area (1001) with a head so that the vehicle body of the vehicle (V) is in an inclined posture with respect to the potential parking area (1001), and And a third phase (P3) of controlling or guiding the vehicle (V) to drive into the potential parking area (1001) in a reverse manner and completing parking.
  8. 8. The parking assistance method (1000) according to any one of claims 1 to 7, wherein, The environmental data are acquired by means of a 360-degree panoramic camera and/or radar sensor of the vehicle (V), and/or The parking assistance instructions are obtained by at least one of responding to a parking assistance request issued by a driver of the vehicle (V) through a human-computer interaction interface, responding to detecting that the vehicle speed of the vehicle (V) is lower than a preset vehicle speed threshold value and responding to detecting that the vehicle (V) enters a preset parking scene area, and/or The parking assistance method (1000) further includes providing an option for an automatic parking or a semiautomatic parking operation when the evaluation result determines that a parking condition is satisfied and the vehicle (V) is equipped with an automatic parking system, wherein the automatic parking or semiautomatic parking operation is preferably performed using the recommended parking path.
  9. 9. A computer program product comprising computer program instructions, wherein the computer program instructions, when executed by a processor, implement the steps of the park assist method (1000) according to any of claims 1 to 8.
  10. 10. A vehicle (V), wherein the vehicle (V) comprises a computer program product according to claim 9.

Description

Parking assistance method for a vehicle, computer program product and vehicle Technical Field The present invention relates to the field of vehicle technology, in particular to a parking assistance method for a vehicle, a computer program product and a corresponding vehicle. Background With the continuous acceleration of the urban process and the continuous increase of the conservation quantity of motor vehicles, the parking space resources of urban roads and various parking places are increasingly tense, and the problem of difficult parking becomes a common problem which puzzles a wide range of drivers. In urban road planning, a large number of parking areas with narrow roads and irregular parking space layout exist due to historical carry-over problems, land restrictions and differences of planning design standards. Particularly in the scenes of urban branches, intra-district roads, old and old neighborhood auxiliary roads and the like, as the width of the roads is limited, the two sides of the roads are possibly provided with barriers such as green isolation belts, curbs, municipal facilities and the like, so that the operation space for lateral parking is extremely limited. In these narrow road side scenes, the driver often needs to face a road space that is only slightly wider than the width of the vehicle, and a parking space whose length may just barely accommodate the vehicle body, which puts extremely high demands on the parking technology and space judging ability of the driver. In actual driving, when a driver looks for a parking space in a narrow auxiliary road, there is often a dilemma in that it seems that there is an available parking space in front of the driver, but it is difficult for the driver to accurately judge whether the space is sufficient to accommodate the vehicle he or she is driving on during the running of the vehicle. This uncertainty often results in the driver having to take a tentative parking attempt, i.e. to drive the vehicle into or near the target area and then verify that the space is available by actual reversing and adjustment operations. However, such heuristic operations are not only time consuming, but may also impede rear traffic due to repeated forward, reverse and steering operations, more likely to cause traffic congestion and even safety hazards during periods of heavy traffic. For this reason, there is still a real need for continued improvement in terms of parking assistance. Disclosure of Invention In view of this, it is an object of the present invention to provide an improved parking assistance method for a vehicle, an improved computer program product and an improved vehicle, which solve at least part of the problems of the prior art and/or which overcome other possible drawbacks not mentioned herein. According to a first aspect of the present invention, there is provided a parking assistance method for a vehicle, wherein the parking assistance method includes the steps of obtaining a parking assistance instruction, S200 obtaining environmental data around the vehicle based on the parking assistance instruction to determine a potential parking area, S300 obtaining vehicle parameters of the vehicle, the vehicle parameters including at least a vehicle body length, a vehicle body width and a minimum turning radius, S400 analyzing the obtained environmental data and vehicle parameters to evaluate whether the potential parking area satisfies a parking condition of the vehicle, and S500 outputting an evaluation result. According to an alternative embodiment of the invention, when the evaluation result in step S400 determines that a parking condition is met, at least one of risk warning information for reminding a driver of the vehicle to avoid collision of vehicle components, particularly a hub and/or a tire, during driving into the potential parking area is additionally output in step S500, wherein the risk warning information particularly relates to a reminder of a curb, a green belt step or an isolation belt around the potential parking area, a recommended parking path which is presented in a visual manner, preferably an animated video or a dynamic diagram or a step diagram, for guiding the driver of the vehicle to complete a parking cloud operation according to the recommended parking path, and a successful parking probability which is calculated based on at least one of historical parking data of the driver of the vehicle, historical parking data of a plurality of vehicles identical to the vehicle model, and historical parking data of a plurality of vehicles of similar vehicle models under similar parking scenes of the vehicle model. According to an alternative embodiment of the invention, step S400 comprises the substeps of determining an available space size of the potential parking area based on the environmental data, the available space size comprising at least an available parking space length, S420 determining a drivable width of a lane into the p