TWI326645B - - Google Patents

Description

于于0045 九 九 九 九 九 九 九 九 九 九 九 九 九 九 九 九 九 九 九 九 九 九 九 九 九 九 九 九 九 九 九 九 九 九 九 九 九 九 九 九 九 九 九 九 九 九 九 九 九 九 九Relationship, and calculate the parking path, and can automatically stop to the parking space. [Prior Art] Press, the car is a modern person - the secret means of comfort and quickness, _ after the arrival of the destination does not need to be - stop the parking stop to get off, Hyundai Du, the size of the parking space is usually just more than - car Slightly larger - just point, so it is often difficult to take care of the front, back, left and right direction of the parking. It is not difficult for the driver to drive into the parking space, but it is also necessary to be careful to avoid collision; In terms of hand, it is not easy to park the car in the parking space properly; in addition, the 'vehicles of the various vehicles have the setting of sheet metal paint for the attack against the wind and the sun. However, the paint can provide the body. The metal material - good anti-effect, but the paint itself is resistant to rubbing, a little __ will be ordered - damage, difficult to easily occur and expand from there, money gold paint is not expensive, for the owner Words are nothing more than pen-burden, therefore, how to avoid the collision caused by careless parking, provide users - ideal self-secret car or auxiliary parking device, its business opportunities are infinitely practical, and it has become the goal of various low-cost businesses . Please refer to the Republic of China Patent Application No. 7 7 1 〇〇 5 9 6 , "Automobile Backstop Automatic Device" which is mainly equipped with a displacement detecting device, an obstacle detecting device, a microcomputer, etc. on the vehicle body to calculate the car. The automatic trajectory of the body is used for the purpose of automatic parking; 1326645, and the practice of this case is a fixed deed, so the user first stops the car in a special position. The starting point of the trace, so that the trajectory planned by the device can be applied to perform the function of automatic parking, so that the calculation ability of the parking trajectory planning is poor, and the various non-parking environments are low in complexity, so unrealistic. As a result, the owner still needs to stop by himself, so the customary invention is ineffective. In addition, although there are some related designs, it is said to provide automatic reversing function. However, in order to provide perfect and suitable high-level automatic position, the first is to be red and accurate parking environment scene 'except ultrasonic sensing It is necessary to cooperate with other devices, such as video devices, to assist in capturing the real situation of the parking environment, and it is suitable for the male silk to lose the 岐 岐 岐 , , , 习 习 习 习 习 习 习 习 习 习 习 习 习 习 习 习 习 习 习 习 习 习 习 习Semi-finished products are still necessary for improvement. SUMMARY OF THE INVENTION The main object of the present invention is to provide an automatic stop, which can improve the conventional use.

Vehicle Auxiliary System Calculation _ Poor parking capacity, unable to adequately collect information on the parking environment, low applicability and complexity, or even automatic parking is missing. (10) The purpose of the invention is that the invention includes: a vehicle body sensing unit is used for the state of the body; the unit, the township like the unit can be set up, the car finance week, by means of the shadow of the wheel of the person's shirt Wei; Super 妓 Na Yuan, Lan Yin wave feeling can be set in the outer circumference of the car, the external conditions of the vehicle are adjusted by ultrasonic waves. The adjustment unit is used to open and close the body, or accept the user's settings. Adjustment, correction control - driving suspect machine _ unit 'the _ structure _ collapsed car body _ _ set, driving 2 car body, steering system, room, brakes, etc., for _ car body action l _ display unit, Xian Ding Single-reading the image of the ton, the display unit can also be directly adjusted for the user to adjust the calibration; processing 7L early, the processing unit and the above-mentioned body sensing unit, image ratchet unit, social skin sensing early adjustment Early π, driving mechanism control unit, display unit, processing unit, I processing, early 7C system can receive the car body from the car body lying unit; the processing unit is composed of image capturing unit, super butterfly 咐 瓣 部 Wei Wei, she The built-in formula 'plans out the automatic parking obstruction and is based on parallel parking or Different parking modes for reversing into the warehouse, ^ use the appropriate public to calculate the appropriate parking path, and then the processing unit through the driving mechanism control unit to operate the vehicle body along the parking trajectory to perform the parking action to achieve the effect of automatic parking. The invention is suitable for the training unit and the ultrasonic_single-integrated processing unit to construct the parking space _ 'and the _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ Upper, and the elasticity and practicability are high, and the position can be used as the starting point of the parking trajectory, and the self-solving trajectory can be calculated and the parking action can be self-driving. Furthermore, with the _ single-stop parking Wei and the parking space - The display is superimposed for the user to make fine adjustments, and in the process of automatic parking, it is possible to immediately monitor whether there are pedestrians, vehicles, and scale obstacles on the parking track to stop the action when the pedestrians enter the crowd. After the user confirms that there is no obstacle on the parking trajectory, the system can be restarted and the automatic parking action can be completed to increase the safety; ~ It can be seen from the above that the present invention is quite practical and progressive. The invention value is paid to the industry for promotion and is publicized to the public. [Embodiment] The present invention relates to an automatic parking device, please refer to the first riding device. The automatic parking device can be installed on the vehicle body, and the main body (U main system includes: 7 car body) The sensing age π' includes a reversing sensing unit (丄i), the reversing sensing single "1) is a reversing state; an angle sensing unit (1 2 ), the angle sensing wheel (1 2 ) is It can be installed with the turning connection of the car body, (4) sensing the survey of her degree; _ bit_unit (1)), the displacement sensing early 4 i 3) can pick up the original vehicle speed signal of the car body to sense the car body Displacement; ~ like operation early (14) 'The image manipulation unit (14) can be set in the outer circumference of the car, by means of photography into the image of the external environment of the car body; an ultrasonic material (1 5) The ultrasonic _ element (1 5 ) can be set on the outer circumference of the vehicle, and the external condition of the vehicle body is measured by ultrasonic waves; an adjusting unit (16), the adjusting unit (16) is used for opening and closing The body (1), or accepts the user's setting adjustment, correction control; a driving mechanism control unit (17), the driving mechanism controls Yuan ((7) The original body of the car body, such as the car body is tender, between, _, ribs for action; a display unit (18), the smart unit (i 8) can display images, the display The unit (18) can also be touched by the light curtain and directly adjusted by the supplier; a processing unit (2 〇), the processing unit (2 〇) and the above-mentioned reverse sensing unit (11), 角麟鲜元 ( 12), the displacement money unit (13), the image manipulation order 1326645 yuan (14), the ultrasonic_unit (15), the acid unit (16), the missing mechanism control unit (17), and the display unit (i 8) are connected; The processing unit (20) can receive the vehicle body traveling state by the reverse sensing material (ii), the angle sensing unit (work 2), and the displacement sensing unit (13); the processing unit (2 〇) is composed of the image unit (1 4) ), the ultrasonic sensing unit (15) receives the state of the external environment of the vehicle body, and cooperates with the built-in formula to plan the automatic parking trajectory, and according to different parking modes of parallel parking or reverse parking, _Mu's formula Calculate the appropriate parking path, which is only a few (2 0) and then through the control unit of the driving mechanism (丄7 The operation of the vehicle body along the parking stop to achieve the effect of automatic parking. The parking trajectory calculation formula of the main unit (1) processing unit (2 〇) of the automatic parking device, please refer to the second figure to the first Seven rides, wherein the second to fourth figures are embodiments of the flat parking mode, and the fifth to seventh figures are embodiments of the reverse storage mode. - See the first to fourth riding instructions In parallel parking, the processing unit (2 〇) utilizes the following parameters of the known wire calculation: body length L, body wheelbase; 'body width gray, car body final reduction ratio (ie steering wheel angle and The ratio of the front wheel angle W, the rear wheel axle to the vehicle end distance c, the steering wheel maximum 0 眶 The above data is the actual value of the car body itself, which can be input and stored in the processing unit when the body (1) is installed (2 〇 ); the parking space has a front margin of 6 °, the parking compartment is left to be miscellaneous, and the upper trunk is the body (i) to preset the automatic parking f; the parking compartment width D, the starting position of the vehicle body and the obstacle Left and right pitch claw body starting position 9 1326645 and obstacle Before and after the spacing /7, the above data can be measured by the image capturing unit (14) and the ultrasonic sensing unit (15);

c〇H

R /•C〇t(^-) + y

φ s = Nx cot" a = sin-1

Sl = Rsx a '(H + n + b^-lR^^m + D-b^ + jm + D-b,) 2 2{m^D-bx) + ·

W =^ x sin-1 H + n + b0 , and min_oul + and ! > S2 = Rmin out X a

Xsin-1 H + n + b0 , and min_ ou' + and i y

In order to obtain the following data: the required parking space length Η, the radius of gyration of the rear wheel of the car body before the reversal point, the minimum gyration radius of the rear wheel of the car body after the reversal point, the steering wheel rotation angle before the reversal point, the reversal The moving length S of the front body, the moving length 52 of the car after the reversal point, and the angle π between the initial position (3 1) and the reversal point; as shown in the second and third figures, the processing unit (2 0 When calculating the path of the parallel parking of the planned car body, the initial position (31) is moved to the reversal point by the first rotation (3 and the reversal direction is reversed at the reversal point (3 2), and then the The second rotation is to complete the end position of the parking (3 3); wherein the first rotation is based on the inner rear wheel of the vehicle body in the direction of the parking space, and the steering wheel is rotated by an angle of 0, and the defined path is The corresponding rotation half (four) ^, bound along the path until the vehicle body movement length & the position is the reversal point (3 2 ), and the S is - arc length;

At the reversal point (3 2 ), the rear wheel of the vehicle body is used as the standard, and the path of the ib defined by the maximum reversal angle ^ of the steering wheel is swayed, and the path is 槪 until the multi-moving length 52 of the vehicle body. The vehicle body is parked in the reserved parking space, which is the end position (3 3), and the arc is long; and the processing single το ( 2 〇) is in the operation of the road, the body itself can be Actual and min, the default value fc). , L, and the measured value £), melon,

The parameters such as "•10 calculate the steering angle of the first turning path ^ and the moving length of the car body $!, and then calculate the length of the car body mine & The second rotation; and first _ parking handsome length shirt reaches the preset minimum value required by the silk car / / +24 to determine whether automatic parking is possible; the automatic parking calculation method of the present invention is not limited to the beginning of the car The position means that there is no need to stop at first - compared to the age of the community, you can still use the $_ transportation formula. As shown in the fourth figure, you can see that the distance between the body and the obstacle is still the same. Different parking routes 彳 $, and achieve the purpose of automatic parking. For the continuation of the fifth to sixth figures, in the reversing material, the bribe unit (2 〇) 1326645 uses the following known data as the parameters of the operation: body length L, body wheelbase i, car The width of the body, the final reduction ratio of the car body, the distance from the rear axle of the car to the end of the car, and the maximum value of the steering wheel. The actual value of the car body itself can be input and stored in the sx body (1). Processing unit (2 〇). Parking grid front b. , the material grid is reduced by b, and the material grid health & 2, the above data is the default value required for the body (1) to automatically stop; parking space width D, parking space length Z, car body starting position The distance between the left and right sides of the obstacle, the starting position of the car body and the distance between the front and the back of the obstacle ^, the above data can be measured through the shadow taking unit (丄4) and the ultrasonic sensing unit (15); :

^ - m)-c-b2 to obtain the following data: Reverse point (3 2) The minimum radius of gyration of the inner rear wheel of the front body is only _ & and the minimum radius of gyration of the rear wheel of the car body is πώ_β«, anti The moving length of the car body before the turning point and the moving length S2 of the car body after the reversal point; as shown in the fifth and sixth figures, the processing unit (2 〇) is used to calculate the path of the parallel parking of the planned car body. Position (3 1) moves to the reversal point (3 2 ) after one revolution, 12 1326645

And in the counter-touch (3 2 ), it is straight backwards like the knot of the car (3 3 ). The turning path is based on the end of the inner side of the car body near the parking space, and the steering wheel is rotated. (10)f, the phase of the lion turns to the half-circle path straight _ mine following, tearing the strokes (32) an arc length; | " At the reversal point (32), the steering wheel is reversed l to zero, so that the car Body can be straight backwards

Line, until the length of the car body shaft S2, so that the car body stops to stop, the place is the end position (3 3); in addition, the process is 70 (2 〇) before the automatic stop, the system will detect Whether the parking space width reaches the minimum required for the pet (10)_ = ; the shouting is not less than the minimum value of the starting position of the car body and the left and right distance of the obstacle; whether it conforms to the formula of one ;; if it is fully met, the automatic parking can be performed. The automatic parking calculation formula of the present invention and the original position of the secret body of the vehicle means that it is not necessary to stop at the first-order domain purchase agency, and it is still possible to use the (four) Chaoyang-style, and is even more unaffected by the neighboring car. The influence of the 4 cars, as shown in the seventh figure, can accurately calculate the planned parking trajectory and automatically perform the parking action. The operation process of the self-rotating car I of the present invention is as follows: ~ the secret operation of the main body (i) is adjusted by the adjustment control unit; the automatic parking mode is selected as the flat parking mode or the scale storage mode; _ image Na unit (1 4 ) and super The sound sensing unit (15) obtains the external environment information and constructs the parking environment map; the processing unit (2 〇) corresponds to the full miscellaneous 'fiber stop light ^ enough; 13 1326645 automatic braking and thin driver to pour Light; with the public bus of the listening, in the display single-(18) 'predicted parking position, and superimposed on the real parking environment image; use, ·.' beetle unit (1 8) or adjustment control Single ^ to perform parking position correction and confirmation; calculate the final parking position; press the tank control to confirm the execution; handle single το ( 2 〇) through the driving mechanism control unit (丄7) to automatically control the body steering device throttle brake, etc. 'Take the parking action; the travel towel will make (4) whether there is control of the intervention steering device, the oil shovel, the brakes, if the system is stopped and the master control is returned to the user; the _ parking trajectory is the entry of the obstacle, If you have a job The line is activated and the master control is returned to the person; the person who waits for the money confirms that the stoppage is unobstructed, and the system can be restarted and continued until the parking is completed. The above is only a preferred embodiment for explaining the present invention, and it is not intended to make any similarity to the present invention, and any modification of the invention may be made by They should still be included in the scope of the invention intended to be protected. In summary, the automatic parking device of the present invention is completely in line with the development of the industry in terms of structural design, practicality and cost-effectiveness, and the disclosed structural invention has an unprecedented innovative structure, so it has " "The nature of the Qing" should be considered, and the invention can be more effective than the conventional structure. Therefore, it is also "progressive". It fully conforms to the requirements of the invention patents in the Chinese Patent Law. Please, and please the Xiao Bureau for an early review and give Qing Ding. 1326645 [Simple description of the drawings] The first figure is a block diagram of the structure of the automatic parking device of the present invention. The second figure is a schematic diagram of the parking trajectory and flow of the parallel parking mode of the present invention. The third figure is a table showing the relationship between the steering wheel angle and the vehicle moving distance of the parallel parking mode of the present invention. The fourth figure is a schematic diagram of another parking environment execution and flow of the parallel parking mode of the present invention. The fifth figure is a schematic diagram of the parking trajectory and flow of the reverse storage mode of the present invention. The sixth figure is a table showing the relationship between the steering wheel angle and the vehicle moving distance of the reverse storage mode of the present invention. • The seventh figure is a schematic diagram of another parking environment trajectory and flow of the reverse storage mode of the present invention. [Main component symbol description] 1———— Body 11 — ——Reverse sensing unit 12 — —— Angle sensing unit 13 — —— Displacement sensing unit 14 — Image capturing unit 15 — Super S wave sensing early element 16 — — Adjustment unit 17 — — Driving mechanism control unit 18 — — Display unit 2 0 — — Processing unit 3 1 — Initial position 3 2 — Reverse point 3 3 — End position 15

Claims (1)

1326645 曰修 (more) is replacing page ten, the scope of patent application: one 1 · - (four) things h her body _ unit _ shouting drunk 11 state; ~ like taking early reading, ribs in the car department environment Image; an ultrasonic wave _ single-domain ultra-sound wave for environmental conditions ·, · - the processing unit is connected to the early body state by the vehicle body sensing unit' and is switched by the image capturing unit, the chopper sensing single s According to the fish ^ now the car is on the road, the processing unit then controls the car body / σ material car to track the progress, to achieve the effect of automatic parking. The processing unit can make a parking track for the parallel parking mode. The following series 1 body length is transferred to the _y 対 早 早 早 早 早 早 早 早 早 早 早 早 早 早 早 早 早 早 早 早 早 早 早 早 早 早 早 早 早 早 早 早 早, parking compartment left miscellaneous ^ and spacing calendar, 倾妙静# From the pure i gift recorded left and right door soap body starting position and obstacles before and after the distance heart reading 耻 shame TV, car body rear axle to the end of the car Distance c, steering wheel maximum angle · * max 9 with the following formula: ~ZiD-b^-(D-hY R. /.c〇H C0t(^E2L') + ^L. N 2 Nx cot" a H + n + L· R min ow 16 1326645 ty year month 7 R repair (more) positive replacement page S^ = Rsxa==Kxsin^ H + n + bn, R + R. S2 = Rnm>_〇ul Xa = K min Xsin Η + η + b0 R + R , the inner radius of the front wheel after the reversal point, the angle between the starting point and the reversal point β, and the following series: the required length of the material The minimum rotation of the wheel is abundance. ' min out Turning point in front of the city turn Xiaodu H no fresh body moving purity ϋ lion rear body movement length s2, according to the calculation of the planned automatic parking trajectory. 2 kinds of automatic vehicle devices, the system can be Mounted on the vehicle body, the body comprises: - a body sensing unit is fine to sense the state of the vehicle body; an image manipulation unit is used to read an image of the external environment of the human body; - Ultrasonic_single The metasystem _ supersonic wave detects the condition of the Wei; the processing unit receives the state of the vehicle body from the vehicle body sensing unit, and receives the environmental state by the image manipulation unit and the ultrasonic sensing unit, thereby calculating the trajectory of the ore car, The unit then controls the vehicle body to travel along the parking track to achieve the effect of automatic parking. The processing unit shoots the parking lion for the parking garage, and the processing unit uses the following data: the length of the vehicle body and the wheelbase of the vehicle body. 7. Car body width research, parking space length, parking space width parking space front secret & ^ 'Parking space left and right, and parking space rear margin office 2, car body starting position and obstacle left and right spacing m 'The starting position of the car body and the distance between the obstacles before and after the obstacle / 3, the final deceleration ratio of the car body τν, the distance from the rear wheel axle to the end of the car c, the maximum angle of the steering wheel must match the following formula: 17 1326645 Leap year "Month? Day repair (more The positive replacement page and min m = /· COt(^SSi-) _N JWR min out S\ = Rmn_in X~ A = z-(Λ—in - w), c The following weaves are obtained: The smallest return (four) The vehicle body shifts the purity of the vehicle body by the length S2, and the automatic parking trajectory is calculated according to the calculation. 3. The automatic parking device according to the first or second aspect of the patent application, wherein the processing unit is connected Display unit. 4. The root shot is in the automatic stop as described in item 或 or item 2 of the patent scope. The processing unit is connected to the adjustment unit to accept the setting adjustment or correction. 5. Automatically stop the application as described in the application for patent lang i or item 2 and entice the master to the driver. 6 = According to the automatic parking device described in the patent scope project or the second item in May, the body sensing unit includes _reversing β _ , ', — Xiao 吟 W early reading rib _ car body It is money in the state of reversing, and the angle should be read early to read the angle of rotation of the steering gear of the slim body. The mouth is used to sense the displacement of the car body. The 阙 单元 系 栌 栌 自动 自动 自动 自动 自动 自动 自动 自动 自动 自动 自动 自动 自动 自动 自动 自动 自动 自动 自动 自动 自动 自动 自动 自动 自动 自动 自动 自动 自动 自动 自动 自动 自动 自动 自动 自动 自动 自动, 丄 厶υυΗ 厶υυΗ ϋ ϋ 厶υυΗ 厶υυΗ 厶υυΗ 否 否 可 可 可 可 可 可 可 自动 自动 自动 自动 自动 自动 自动 自动 自动 自动 自动 自动 自动 自动 自动 自动 自动 自动 自动 自动 自动 自动 自动 自动The automatic parking device described in (4) is the minimum level required to determine the parking thief level at the 7th level, and determines whether automatic parking is possible. Man 9. Automatic parking device according to item 2 of the patent application scope , in which the processing unit first touches the scale of the obstacle, and the small value of the filament is still _ Rmin_i" a #miKm - (R ψ a b γ 丨 right to stop automatically. n = r: _ W -c-bx ^. The automatic parking device described in the second paragraph of the patent, wherein the single reading will first detect the pure and obstacle pre-production method to meet the formula of ^, if it is consistent, it can be automatically 11. The automatic parking device according to item 3 of the patent application scope, wherein the processing unit can recognize or correct the falsification of the following W4 eagle. 12 The automatic stop wheel, wherein the display flat screen is a touch screen, thereby being directly adjustable by the display unit.