CN104843066A - Automatic parking method and system - Google Patents

Abstract

An automatic parking method and system, the method comprising: if it is detected that the user starts the operation of the automatic parking function, responding to the operation, and obtaining the sensing data of the car through an adjustable sensor; Parking spaces and parking tracks; based on self-control feedback, the car is controlled to park in the auxiliary parking space according to the parking track. Self-control feedback refers to real-time monitoring of the position relationship between the position of the car and obstacles and adjustment of the parking track. By using The adjustable sensor acquires the induction data of the car, which can quickly and effectively determine the auxiliary parking space of the car, and the automatic parking based on the self-control feedback method can monitor the position of the car in real time during the parking process, so that the parking can be completed quickly and smoothly process.

Description

A method and system for automatic parking

technical field

The invention relates to the field of automobiles, in particular to an automatic parking method and system.

Background technique

With the development of the economy, the number of cars keeps increasing every year, and the phenomenon of difficult parking is common. During the parking process, the driver needs to observe and judge the surrounding environment of the parking spot, and on the other hand, he must operate the car accurately. A small misjudgment in the parking process may cause a safety accident. Therefore, car parking requires the driver to possess skilled driving skills and keen observation.

In the process of daily use of cars, parking has always been a difficult and accident-prone matter. For many drivers, parking often wastes a lot of time or even fails to park the car in a parking space at all. Life brings a lot of inconvenience, if a safe and convenient automatic parking system is used, it will bring a lot of convenience to the driver.

However, in the existing automatic parking system, the sensor is not adjustable, and the non-adjustable sensor will lead to higher requirements on the parking space, and it is not flexible enough to realize fast and effective automatic parking.

Contents of the invention

In view of this, the present invention provides an automatic parking method and system for solving the problems of inconvenient parking and low efficiency caused by unadjustable sensors in the prior art.

The automatic parking method provided by the embodiment of the present invention includes:

If the user's operation of starting the automatic parking function is detected, then in response to the operation, the sensor data of the car is obtained through the adjustable sensor;

Determine the auxiliary parking space and parking track according to the sensing data and the current position information of the car;

Controlling the car to park in the auxiliary parking space according to the parking trajectory based on self-control feedback, the self-control feedback refers to real-time monitoring of the position relationship between the position of the car and obstacles and adjusting the parking trajectory .

The automatic parking system provided by the embodiment of the present invention includes:

The response obtaining module is used to obtain the sensing data of the car through the adjustable sensor in response to the operation if the operation of the user to start the automatic parking function is monitored;

The first determining module is used to determine the auxiliary parking space and the parking track according to the sensing data and the current position information of the car;

A parking module, configured to control the car to park in the auxiliary parking space according to the parking trajectory based on self-control feedback, where the self-control feedback refers to real-time monitoring of the position of the car and the position between obstacles relationship and adjust the parking trajectory.

It can be seen from the above technical solutions that the embodiments of the present invention have the following advantages:

If it is detected that the user starts the automatic parking function, in response to the operation, the sensor data of the car will be obtained through the adjustable sensor, and the auxiliary parking space and parking track will be determined according to the sensor data and the current position information of the car. Based on the self-control feedback The method controls the car to park in the auxiliary parking space according to the parking track. The self-control feedback refers to the real-time monitoring of the position relationship between the position of the car and the obstacle and the adjustment of the parking track. The sensor data of the car is obtained by using an adjustable sensor. , can quickly and effectively determine the auxiliary parking space of the car, and the automatic parking based on the self-control feedback method can monitor the position of the car in real time during the parking process, so that the parking process can be completed quickly and smoothly.

In order to make the above and other objects, features and advantages of the present invention more comprehensible, preferred embodiments will be described in detail below together with the accompanying drawings.

Description of drawings

Fig. 1 is a schematic diagram of the flow of the automatic parking method in the embodiment of the present invention;

FIG. 2 is another schematic diagram of the flow of the automatic parking method in the embodiment of the present invention;

Fig. 3 is a schematic diagram of a method for determining an auxiliary parking space in an embodiment of the present invention;

Fig. 4 is a schematic diagram of the structure of the automatic parking system in the embodiment of the present invention;

FIG. 5 is another schematic diagram of the structure of the automatic parking system in the embodiment of the present invention.

Detailed ways

In order to further explain the technical means and effects of the present invention to achieve the intended purpose of the invention, the specific implementation, structure, features and effects of the present invention will be described in detail below in conjunction with the accompanying drawings and preferred embodiments.

In the embodiment of the present invention, the automatic parking system is used on a car. After the automatic parking system or a device including the automatic parking system is installed on the car, automatic parking can be realized quickly, effectively and smoothly.

Among them, an adjustable sensor is installed on the automatic parking system, where the adjustable sensor refers to a sensor whose sensing direction can be adjusted, that is, the data of the distance between the car and the obstacle within a certain range can be obtained by adjusting the sensing direction of the sensor.

Among them, the position and number of adjustable sensors can be set on the car according to specific needs. For example, at least one adjustable sensor can be installed on the head, left side, right side, and tail of the car respectively. An adjustable sensor is installed at the left front, right front and front position of the car, and an adjustable sensor is installed at the left rear, right rear and front position of the rear of the car, and the left and right sides of the car are respectively installed. An adjustable sensor is respectively installed in the middle. In practical applications, the position and number of adjustable sensors can be set according to specific needs, which are not limited this time. In the embodiment of the present invention, an adjustable sensor is set at the middle position of the head, the left side, the right side and the tail of the car as an example for illustration.

Wherein, the adjustable sensor may specifically be an ultrasonic sensor whose sensing direction can be adjusted.

In the embodiment of the present invention, the automatic parking method and system described below are all described on the premise that an adjustable sensor has been installed on the vehicle. In order to better understand the technical solution in the embodiment of the present invention, please refer to Figure 1, which is an embodiment of the automatic parking method in the embodiment of the present invention, including:

101. If it is detected that the user activates the automatic parking function, respond to the operation and obtain the sensing data of the car through the adjustable sensor;

In the embodiment of the present invention, when the car is in the parking state, if the user needs to perform automatic parking, he can start the automatic parking system on the car. After the system detects that the user has started the operation of the automatic parking function, it will respond to the operation, And obtain the sensing data of the car through the adjustable sensor.

Among them, the automatic parking system inside the car can include a button with a physical button. After pressing this button, the car will start the automatic parking system, or a virtual button can be set on the display interface of the device installed inside the car. After this virtual button, the car's automatic parking system can be activated.

Among them, after the car presses the physical button or virtual button to start the automatic parking system, it will generate the parking space positioning control signal of the car, and send the parking space positioning control signal to the adjustable sensor. After receiving the signal, the adjustable sensor will Enter the sensing state.

In the embodiment of the present invention, the adjustable sensors at the head, left side, right side, and tail of the car will enter the induction state to obtain the sensing data of each adjustable sensor, wherein the sensing data refers to the sensor sensed by the adjustable sensor The distance data and angle data between the current position and the obstacles within its sensing range.

In the embodiment of the present invention, when the car is in a parked state, if the automatic parking system detects the parking space positioning control signal generated by the user's activation of the automatic parking function, the adjustable sensor installed on the car is activated; and the adjustable sensor can be controlled. The detection direction of the sensor is adjusted, and the sensing data detected by the adjustable sensor is obtained.

Among them, the automatic parking system will obtain the sensing data transmitted by the adjustable sensors in each direction of the car's head, left side, right side, and tail, and process the sensing data detected in each direction. The automatic parking system Process the sensing data detected in each orientation to obtain the size of the area that can be parked in each orientation, and determine whether it contains an area that conforms to the appearance characteristics of the car. If not included, the automatic parking system will send the parking position control signal to the adjustable sensors on the four sides of the car again, and the adjustable sensors on the four sides of the car will adjust the sensing angle and obtain the sensing data, or the driver will follow the actual The situation moves the current position of the car slightly, and the parking system sends a parking space positioning control signal to the adjustable sensors on the four sides of the car again, and the adjustable sensors adjust the sensing angle and obtain sensing data.

In the embodiment of the present invention, since the adjustable sensors are installed on the four sides of the car, the angle of the sensors can be adjusted to obtain the sensing data, and the sensing data acquisition is more flexible and efficient.

In the embodiment of the present invention, if the area where parking can be parked in each orientation includes the appearance characteristics of the car, step 102 is executed.

102. Determine the auxiliary parking space and parking track according to the sensing data and the current position information of the car;

In the embodiment of the present invention, if the area indicated by the sensing data of the four orientations detected by the adjustable sensor of the car contains the appearance features of the car, then it is determined that the sensing data of the sensor that is in line with the appearance features of the car is used for Determine the data of the auxiliary parking space and parking track, and the car will determine the auxiliary parking space and parking track according to the sensing data and the current position information of the car. Specifically: if only one of the areas indicated by the sensing data of the four directions contains the appearance characteristics of the car, then use the sensing data of this direction to determine the auxiliary parking space and the parking track, if the area indicated by the sensing data of the four directions If there are at least two orientations that conform to the exterior features of the car, then the at least two orientations will be displayed on the display interface and selected by the driver. If the selection operation of the driver is detected, the area selected by the selection operation will be determined. The corresponding orientation sensing data determines the auxiliary parking space and the parking trajectory. For example: if there are parking spaces on both sides of the car, and most of the parking spaces on both sides have parked cars, the adjustable sensors on the four sides of the car detect that there is a large space in front and behind the car, and the car’s If there is an open space on the right side, but there is no open space on the left side of the car, the car will determine that there is enough space for parking in the front, rear and right side of the car, and display the available parking space relative to the current position of the car on the display interface. The driver can determine the open space that can be parked by selecting on the display interface, that is, the open space on the right side of the car. After receiving the driver's selection area, the automatic parking system detects the open space on the right side of the car. Divide auxiliary parking spaces in the area and determine the parking trajectory.

103. Based on the method of self-control feedback, the car is controlled to park in the auxiliary parking space according to the parking trajectory. The self-control feedback refers to the real-time monitoring of the position relationship between the position of the car and obstacles and the adjustment of the parking trajectory.

In the embodiment of the present invention, after the automatic parking system determines the auxiliary parking space and the parking track, it will control the car to dial into the auxiliary parking space according to the parking track based on the self-control feedback, wherein the self-control feedback refers to the real-time monitoring of the car The position relationship between the position of the vehicle and the obstacle and adjust the parking trajectory.

By monitoring the positional relationship between the position of the car and the obstacle in real time during the parking process, and adjusting the parking trajectory when necessary, it is possible to adjust the parking trajectory in real time to avoid the car from crashing into the obstacle, and efficiently realize the automatic parking.

In the embodiment of the present invention, if the user's operation of starting the automatic parking function is detected, in response to the operation, the sensing data of the car is obtained through the adjustable sensor, and the auxiliary parking space and parking space are determined according to the sensing data and the current position information of the car. Vehicle track, based on the way of self-control feedback to control the car to park in the auxiliary parking space according to the parking track. Adjusting the sensor to obtain the induction data of the car can quickly and effectively determine the auxiliary parking space of the car, and the automatic parking based on the self-control feedback method can monitor the position of the car in real time during the parking process, so that the parking process can be completed quickly and smoothly .

Please refer to Figure 2, which is an embodiment of the automatic parking method in the embodiment of the present invention, including:

201. When the car is in a parked state, if the parking space positioning control signal generated by the user's activation of the automatic parking function is detected, the adjustable sensor installed on the car is activated;

In the embodiment of the present invention, if the user needs to perform automatic parking when the car is in the parked state, the automatic parking system on the car can be activated.

Among them, the user can start the automatic parking system by pressing the physical button set on the car to start the automatic parking function. After pressing the physical button, the parking space positioning control signal of the car will be generated, which is used to trigger the car The adjustable sensor installed on the car enters the induction state and generates a parking space positioning control signal, which indicates that the automatic parking system of the car has been activated. Alternatively, a virtual button can be set on the display interface of the device installed inside the car, and the user presses the virtual button. After the button is pressed, a parking space positioning control signal will also be generated, indicating that the automatic parking system of the car has been activated.

In the embodiment of the present invention, after the adjustable sensor on the car enters the sensing state, it will sense the obstacles around the car, determine the distance to the obstacle and the angle between the two distances to generate sensing data.

It should be noted that when the adjustable sensor is in the off state, the adjustable sensor is in the reset position, that is, the emission direction of the left adjustable sensor is perpendicular to the car and toward the left, and the emission direction of the right sensor is perpendicular to the car and toward the left. On the right, the emission direction of the adjustable sensor on the head is parallel to the car and facing forward, and the emission direction of the adjustable sensor on the rear is parallel to the car and facing backward.

202. Control the detection direction of the adjustable sensor to adjust, and obtain the sensing data detected by the adjustable sensor;

In the embodiment of the present invention, after the adjustable sensor on the car enters the sensing state, the automatic parking system can control the detection direction (angle) of the adjustable sensor to adjust, and obtain the sensing data detected by the adjustable sensor.

203. Using sensing data to determine available parking spaces;

In the embodiment of the present invention, after the automatic parking system acquires the sensing data of the adjustable sensors on the four sides, it will use the sensing data of the adjustable sensors on the four sides to determine the available parking spaces. Among them, the available parking space refers to the open space detected by the adjustable sensors on the four sides; for example: if there are parking spaces on both sides of the car, and most of the parking spaces on both sides have parked cars, the four sides of the car The adjustable sensor on the side detects that there is a large open space in front of and behind the car, there is an open space on the right side of the car, and there is no open space on the left side of the car, then the car will determine that there are enough open spaces in front, rear and right of the car , are available as parking spaces.

204. Determine whether the available parking space conforms to the appearance characteristics of the car, if so, then perform step 205, if not, then return to step 202;

In the embodiment of the present invention, the automatic parking system will judge whether the determined available parking space conforms to the shape characteristics of the car. A predetermined value, for example, may be greater than 120%.

In the embodiment of the present invention, if the available parking spaces do not include available parking spaces conforming to the appearance characteristics of the car, the automatic parking system returns to step 202, specifically: the driver can first change the current position of the car, And after the current location is changed, the step of controlling the detection direction of the adjustable sensor to adjust in step 202 and obtaining the sensing data detected by the adjustable sensor is executed again.

In the embodiment of the present invention, the car can collect the sensing data multiple times to determine an available parking space that conforms to the appearance characteristics of the car.

205. Delineate an auxiliary parking space in the available parking spaces, and use the current position information of the car and the auxiliary parking spaces to determine the parking trajectory;

In the embodiment of the present invention, if the available parking space conforms to the appearance characteristics of the car, the available parking space is used as an auxiliary parking space, and the current position information of the car and the auxiliary parking space are used to determine the parking trajectory.

Among them, specifically: if only one available parking space in the available parking spaces determined by the sensing data of the four directions conforms to the appearance characteristics of the car, then determine the auxiliary parking space in the available parking space, and use the auxiliary parking space and the current position of the car. The location information determines the parking trajectory, if there are at least two available parking spaces in accordance with the appearance characteristics of the car among the available parking spaces indicated by the sensing data of the four directions, then the at least two available parking spaces are displayed on the display interface, by The driver makes a selection, and if the driver's selection operation is detected, the available parking space selected by the selection operation is used to determine the auxiliary parking space, and the auxiliary parking space and the current position information of the car are used to determine the parking trajectory. For example: if there are parking spaces on both sides of the car, and most of the parking spaces on both sides have parked cars, the adjustable sensors on the four sides of the car detect that there is a large space in front and behind the car, and the car’s If there is an open space on the right side and there is no open space on the left side of the car, the car will determine that there are open spaces in front, rear and right side of the car that are suitable for parking, which are available parking spaces, and display the available parking spaces on the display interface. An available parking space can be determined by making a selection on the display interface, that is, the open space on the right side of the car. After receiving the driver's selection, the automatic parking system divides the auxiliary parking space in the area where the open space on the right side of the car is detected. , and use the auxiliary parking space and the current position information of the car to determine the parking trajectory.

Wherein, please refer to FIG. 3 , which is a schematic diagram of a method for determining an auxiliary parking space, wherein the data sensed by the sensor includes L1, L2, L3, L4, and the angle A1 between L1 and L2, and the angle between L2 and L4 A2, the angle A3 between L3 and L4, these data constitute the available parking space.

L5 can be obtained through L1, L2 and A1 and the law of cosines. Similarly, L6 can be obtained through L2, L4 and A2, L7 can be obtained through L1, L4 and A1+A2, and L5 and L6 can be obtained through L5, L6 and L7. The included angle is the angle between the parking head direction of the car and the horizontal direction at this time. According to the above data, the auxiliary parking spaces can be drawn.

206. Control the car to start moving according to the parking track, monitor the sensing data detected by the adjustable sensor in real time; and monitor the positional relationship between the position information of the car and the auxiliary parking space in real time;

In the embodiment of the present invention, after the car determines the auxiliary parking space and the parking track, it will control the car to start moving according to the parking track, and will monitor the sensing data detected by the adjustable sensor in real time, and monitor the position information and location information of the car in real time. Positional relationship between auxiliary parking spaces.

Among them, monitoring the sensing data detected by the adjustable sensor is to prevent the car from colliding with obstacles in the process of automatic parking, and real-time monitoring of the positional relationship between the position of the car and the auxiliary parking space is to determine whether the parking has been completed.

207. If it is detected that the sensing data meets the pre-set conditions, stop parking, determine the parking trajectory according to the sensing data, and return to step 206;

In the embodiment of the present invention, during the automatic parking process of the automatic parking system, the automatic parking system will monitor the sensing data of the adjustable sensors on the four sides in real time, and if it detects that the sensing data meets the preset conditions, it will stop parking. Car, determine the parking trajectory according to the sensing data, wherein the parking trajectory in step 207 is different from the parking trajectory in step 205, the parking trajectory in step 207 is the adjusted parking trajectory, in the automatic parking During the system's automatic parking process, the automatic parking system can adjust the parking trajectory as needed.

Wherein, the sensing data satisfying a preset condition includes: the distance between the car and the obstacle in the sensing data is smaller than a preset value.

Wherein, the determination of the parking trajectory according to the sensing data may specifically be that the automatic parking system determines the trajectory that can park the car into the auxiliary parking space based on the current sensing data, and theoretically the car will not come into contact with surrounding obstacles.

208. If it is detected that the position of the car is within the position of the auxiliary parking space, then determine that the automatic parking of the car is completed, and stop parking.

In the embodiment of the present invention, during the automatic parking process of the automatic parking system, the automatic parking system will also monitor the positional relationship between the position information of the car and the auxiliary parking space in real time, and if the position information of the car is processed to assist the parking If it is within the position of the parking lot, it can be determined that the automatic parking of the car is completed, and the automatic parking will be stopped.

In the embodiment of the present invention, when the car is in the parking state, if the parking space positioning signal generated by the user's activation of the parking function is detected, the adjustable sensor installed on the car is activated, and the detection direction of the adjustable sensor is controlled to adjust. Obtain the sensing data detected by the adjustable sensor, use the sensing data to determine the available parking space, and judge whether the available parking space conforms to the appearance characteristics of the car, if not, return to the step of controlling the detection direction of the adjustable sensor to adjust, if so , then draw an auxiliary parking space in the available parking space, and use the current position information of the car and the auxiliary parking space to determine the parking track, control the car to start moving according to the parking track, and monitor the sensing data detected by the adjustable sensor in real time, and Real-time monitoring of the positional relationship between the position information of the car and the auxiliary parking space, if the detected sensing data meets the pre-set conditions, stop parking, determine the parking track according to the sensing data, and continue to control the car to follow the parking track If it is detected that the position of the car is within the position of the auxiliary parking space, it is determined that the automatic parking of the car is completed and the parking is stopped. In the embodiment of the present invention, by using an adjustable sensor to obtain sensing data, it is possible to Multi-directional acquisition of sensing data, the acquisition of sensing data is more flexible and convenient, and by monitoring the sensing data detected by the adjustable sensor in real time during the automatic parking process, it is possible to effectively avoid collisions between cars and obstacles, and to adjust parking in real time. The trajectory of the car makes parking more smoothly.

Please refer to Figure 4, which is a schematic diagram of the structure of the automatic parking system in the embodiment of the present invention, including:

The response obtaining module 401 is used to obtain the sensing data of the car through the adjustable sensor in response to the operation if it is detected that the user activates the automatic parking function;

The first determining module 402 is used to determine the auxiliary parking space and the parking track according to the sensing data and the current position information of the car;

The parking module 403 is used to control the car to park in the auxiliary parking space according to the parking track based on self-control feedback. The self-control feedback refers to real-time monitoring of the position relationship between the position of the car and obstacles and adjustment of the parking track.

In the embodiment of the present invention, if the automatic parking system detects that the user activates the automatic parking function, the response acquisition module 401 responds to the operation and acquires the sensing data of the car through the adjustable sensor. Then, the first determination module 402 Determine the auxiliary parking space and parking track according to the sensing data and the current position information of the car. Finally, the parking module 403 controls the car to park in the auxiliary parking space according to the parking track based on automatic feedback. Automatic feedback refers to real-time monitoring of the position of the car Position relationship with obstacles and adjust parking trajectory.

In the embodiment of the present invention, if the user's operation of starting the automatic parking function is detected, in response to the operation, the sensing data of the car is obtained through the adjustable sensor, and the auxiliary parking space and parking space are determined according to the sensing data and the current position information of the car. Vehicle track, based on the way of self-control feedback to control the car to park in the auxiliary parking space according to the parking track. Adjusting the sensor to obtain the induction data of the car can quickly and effectively determine the auxiliary parking space of the car, and the automatic parking based on the self-control feedback method can monitor the position of the car in real time during the parking process, so that the parking process can be completed quickly and smoothly .

Please refer to FIG. 5, which is another schematic diagram of the structure of the automatic parking system in the embodiment of the present invention, including: the response acquisition module 401 described in the embodiment shown in FIG. 4, the first determination module 402, and the parking module 403. And it is similar to the content described in the embodiment shown in FIG. 4 , and will not be repeated here.

In the embodiment of the present invention, the response acquisition module 401 includes:

The starting module 501 is used to start the adjustable sensor installed on the car if the parking position control signal generated by the user starting the automatic parking function is detected when the car is in a parked state;

The control acquisition module 502 is configured to control the detection direction of the adjustable sensor to adjust, and acquire the sensing data detected by the adjustable sensor.

In the embodiment of the present invention, the first determination module 402 includes:

The second determination module 503 is used to determine the available parking space by using the sensing data;

Judging module 504, for judging whether the available parking space conforms to the appearance characteristics of the car;

The third determining module 505 is used to divide the available parking spaces into auxiliary parking spaces if the judging module 504 determines that the available parking spaces conform to the appearance characteristics of the car, and use the current position information of the car and the auxiliary parking spaces to determine the parking trajectory ;

Return module 506 , configured to return to the execution control acquisition module 502 .

In the embodiment of the present invention, the parking module 403 includes:

The control and monitoring module 507 is used to control the car to start moving according to the parking track, and monitor the sensing data detected by the adjustable sensor in real time;

The adjustment module 508 is used to stop parking if the sensing data meets the pre-set conditions, determine the parking trajectory according to the sensing data, and return to the execution control monitoring module 507 .

Wherein, the sensing data satisfying a preset condition includes: the distance between the car and the obstacle in the sensing data is smaller than a preset value.

In the embodiment of the present invention, the control monitoring module 507 is also used to monitor the position relationship between the position of the car and the auxiliary parking space in real time;

Then the system also includes:

The completion module 509 is configured to determine that the automatic parking of the vehicle is completed and stop parking if it is detected that the position of the vehicle is within the position of the auxiliary parking space.

In the embodiment of the present invention, when the car is in the parking state, if the parking space positioning signal generated by the user's activation of the parking function is detected, the adjustable sensor installed on the car is activated, and the detection direction of the adjustable sensor is controlled to adjust. Obtain the sensing data detected by the adjustable sensor, use the sensing data to determine the available parking space, and judge whether the available parking space conforms to the appearance characteristics of the car, if not, return to the step of controlling the detection direction of the adjustable sensor to adjust, if so , then draw an auxiliary parking space in the available parking space, and use the current position information of the car and the auxiliary parking space to determine the parking track, control the car to start moving according to the parking track, and monitor the sensing data detected by the adjustable sensor in real time, and Real-time monitoring of the positional relationship between the position information of the car and the auxiliary parking space, if the detected sensing data meets the pre-set conditions, stop parking, determine the parking track according to the sensing data, and continue to control the car to follow the parking track If it is detected that the position of the car is within the position of the auxiliary parking space, it is determined that the automatic parking of the car is completed and the parking is stopped. In the embodiment of the present invention, by using an adjustable sensor to obtain sensing data, it is possible to Multi-directional acquisition of sensing data, the acquisition of sensing data is more flexible and convenient, and by monitoring the sensing data detected by the adjustable sensor in real time during the automatic parking process, it is possible to effectively avoid collisions between cars and obstacles, and to adjust parking in real time. The trajectory of the car makes parking more smoothly.

The above description is only a preferred embodiment of the present invention, and does not limit the present invention in any form. Although the present invention has been disclosed as above with preferred embodiments, it is not intended to limit the present invention. Anyone familiar with this field Those skilled in the art, without departing from the scope of the technical solution of the present invention, may use the technical content disclosed above to make some changes or modify equivalent embodiments with equivalent changes, but as long as they do not depart from the technical solution of the present invention, according to the technical content of the present invention Any simple modifications, equivalent changes and modifications made to the above embodiments by the technical essence still belong to the scope of the technical solutions of the present invention.

Claims (12)

1. An automatic parking method, characterized in that, comprising: If the user's operation of starting the automatic parking function is detected, then in response to the operation, the sensor data of the car is obtained through the adjustable sensor; Determine the auxiliary parking space and parking track according to the sensing data and the current position information of the car; Controlling the car to park in the auxiliary parking space according to the parking trajectory based on self-control feedback, the self-control feedback refers to real-time monitoring of the position relationship between the position of the car and obstacles and adjusting the parking trajectory . 2. The automatic parking method according to claim 1, wherein if the operation of starting the automatic parking function is detected, in response to the operation, the initial sensing data of the car is obtained through an adjustable sensor, including: When the car is in a parked state, if the parking space positioning control signal generated by the user's activation of the automatic parking function is detected, the adjustable sensor installed on the car is activated; The detection direction of the adjustable sensor is controlled to be adjusted, and the sensing data detected by the adjustable sensor is obtained. 3. The automatic parking method according to claim 2, wherein said determining the auxiliary parking space and the parking track according to the sensing data and the current position information of the car comprises: Using said sensing data to determine available parking spaces; judging whether the available parking space conforms to the exterior features of the car; If yes, divide the auxiliary parking spaces in the available parking spaces, and use the current position information of the car and the auxiliary parking spaces to determine the parking trajectory; If not, return to the step of controlling the detection direction of the adjustable sensor to adjust, and obtaining the sensing data detected by the adjustable sensor. 4. The automatic parking method according to claim 1, wherein the method based on self-control feedback to control the car to park in the auxiliary parking space according to the parking trajectory comprises: controlling the car to start moving according to the parking track, and monitoring the sensing data detected by the adjustable sensor in real time; If it is detected that the sensing data meets the pre-set conditions, stop parking, determine the parking trajectory according to the sensing data, and return to the step of controlling the vehicle to start moving according to the parking trajectory. 5 . The automatic parking method according to claim 4 , wherein the sensing data satisfying a preset condition comprises: the distance between the car and an obstacle in the sensing data is smaller than a preset value. 6. The automatic parking method according to claim 4, further comprising: Real-time monitoring of the positional relationship between the position of the car and the auxiliary parking space; If it is detected that the position of the vehicle is within the position of the auxiliary parking space, it is determined that the automatic parking of the vehicle is completed, and parking is stopped. 7. An automatic parking system, characterized in that it comprises: The response obtaining module is used to obtain the sensing data of the car through the adjustable sensor in response to the operation if the operation of the user to start the automatic parking function is monitored; The first determining module is used to determine the auxiliary parking space and the parking track according to the sensing data and the current position information of the car; A parking module, configured to control the car to park in the auxiliary parking space according to the parking trajectory based on self-control feedback, where the self-control feedback refers to real-time monitoring of the position of the car and the position between obstacles relationship and adjust the parking trajectory. 8. The automatic parking system according to claim 7, wherein the response acquisition module comprises: The starting module is used to start the adjustable sensor installed on the car if the parking space positioning control signal generated by the user starting the automatic parking function is detected when the car is in the parking state; The control acquisition module is used to control the detection direction of the adjustable sensor to adjust, and acquire the sensing data detected by the adjustable sensor. 9. The automatic parking system according to claim 8, wherein the first determining module comprises: A second determining module, configured to determine available parking spaces by using the sensing data; A judging module, configured to judge whether the available parking space conforms to the appearance characteristics of the car; A third determining module, configured to divide the auxiliary parking spaces among the available parking spaces if the judging module determines that the available parking spaces conform to the appearance characteristics of the car, and use the current parking spaces of the car Position information, the auxiliary parking space determines the parking trajectory; A return module, configured to return to execute the control acquisition module. 10. The automatic parking system according to claim 7, wherein the parking module comprises: A control and monitoring module, configured to control the car to start moving according to the parking track, and monitor the sensing data detected by the adjustable sensor in real time; The adjustment module is configured to stop parking if the sensing data meets the pre-set conditions, determine the parking trajectory according to the sensing data, and return to execute the control monitoring module. 11. The automatic parking system according to claim 10, wherein the sensing data satisfying a preset condition comprises: the distance between the car and an obstacle in the sensing data is smaller than a preset value. 12. The automatic parking system according to claim 10, wherein the control and monitoring module is also used for real-time monitoring of the positional relationship between the position of the vehicle and the auxiliary parking space; Then the system also includes: A completion module, configured to determine that the automatic parking of the vehicle is completed and stop parking if it is detected that the position of the vehicle is within the position of the auxiliary parking space.