CN102481874B - 停车辅助系统 - Google Patents

停车辅助系统 Download PDF

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CN102481874B
CN102481874B CN201080038084.8A CN201080038084A CN102481874B CN 102481874 B CN102481874 B CN 102481874B CN 201080038084 A CN201080038084 A CN 201080038084A CN 102481874 B CN102481874 B CN 102481874B
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vehicle
parking assistance
assistance system
destination path
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CN102481874A (zh
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H·马尔克左克
H·格尔克
P·迪阿尔贝托
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Magna Electronics Inc
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/027—Parking aids, e.g. instruction means
    • B62D15/0275—Parking aids, e.g. instruction means by overlaying a vehicle path based on present steering angle over an image without processing that image
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
    • B60Q9/002—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for parking purposes, e.g. for warning the driver that his vehicle has contacted or is about to contact an obstacle
    • B60Q9/004—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for parking purposes, e.g. for warning the driver that his vehicle has contacted or is about to contact an obstacle using wave sensors
    • B60Q9/005—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for parking purposes, e.g. for warning the driver that his vehicle has contacted or is about to contact an obstacle using wave sensors using a video camera
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
    • B60Q9/002—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for parking purposes, e.g. for warning the driver that his vehicle has contacted or is about to contact an obstacle
    • B60Q9/004—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for parking purposes, e.g. for warning the driver that his vehicle has contacted or is about to contact an obstacle using wave sensors
    • B60Q9/006—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for parking purposes, e.g. for warning the driver that his vehicle has contacted or is about to contact an obstacle using wave sensors using a distance sensor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
    • B60R1/20—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
    • B60R1/22—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle
    • B60R1/23—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle with a predetermined field of view
    • B60R1/26—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle with a predetermined field of view to the rear of the vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/027—Parking aids, e.g. instruction means
    • B62D15/028—Guided parking by providing commands to the driver, e.g. acoustically or optically
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/168—Driving aids for parking, e.g. acoustic or visual feedback on parking space
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
    • B60R2300/30—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing
    • B60R2300/304—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing using merged images, e.g. merging camera image with stored images
    • B60R2300/305—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing using merged images, e.g. merging camera image with stored images merging camera image with lines or icons
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
    • B60R2300/80—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement
    • B60R2300/8006—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement for monitoring and displaying scenes of vehicle interior, e.g. for monitoring passengers or cargo
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
    • B60R2300/80—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement
    • B60R2300/806—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement for aiding parking
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
    • B60R2300/80—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement
    • B60R2300/8086—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement for vehicle path indication

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  • Engineering & Computer Science (AREA)
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  • Aviation & Aerospace Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)
  • Traffic Control Systems (AREA)

Abstract

在一个方面，本发明涉及用于车辆的停车辅助系统，其中停车辅助系统具有两种操作模式。在第一模式中第一覆盖图添加到向车辆驾驶者显示的相机的后方视野的图像。第一覆盖图包括目标停车位置的表示。在第二模式中第二覆盖图添加到向车辆驾驶者显示的视野。第二覆盖图包括基于当前车辆转向角度的车辆计划行驶路径的表示、和车辆目标路径段的表示。

Description

停车辅助系统
技术领域
本发明涉及一种用在车辆中的停车辅助系统。
背景技术
停车辅助系统目前只适用在特定奢华车辆上，并且典型地是全自动或半自动地能够转向和/或驾驶车辆进入停车点的相对复杂的系统。这些系统典型地要求显著的处理功率以便确定在停车操作期间遵循的合适路径。这些系统可能相对昂贵。
如果存在一种停车辅助系统比现有技术的一些系统需要相对小的处理功率、相对简单、相对不昂贵，则是有益的。
发明内容
在第一方面，本发明涉及用于车辆的停车辅助系统，其中目标停车位置覆盖图添加到向车辆驾驶者显示的相机的视野的图像。
在第一方面的一个具体实施例中，停车辅助系统包括安装到车辆并具有后方视野的相机、在车辆中连接到相机并配置来显示该视野的图像的显示器、和配置来对该视野的图像添加覆盖图的控制器。覆盖图包括对目标停车位置的表示。
在第二方面，本发明涉及用于车辆的停车辅助系统，其被构造来：
当停车时选择车辆驾驶者遵循的目标路径，
基于车辆的转向角度通知驾驶者车辆的计划行驶路径，
并通知驾驶者计划行驶路径是否匹配目标路径。
在第二方面的一个具体实施例中，停车辅助系统包括安装到车辆并具有后方视野的相机、在车辆中连接到相机并配置来显示该视野的图像的显示器、和配置来对该视野的图像添加覆盖图的控制器。覆盖图包括基于当前的车辆转向角度对车辆的计划行驶路径的表示、和对车辆的目标路径的表示。
在第三方面，本发明涉及用于车辆的停车辅助系统，其中停车辅助系统具有两种操作模式。在第一模式中，第一覆盖图添加到向车辆驾驶者显示的相机的后方视野的图像。第一覆盖图包括对目标停车位置的表示。在第二模式中，第二覆盖图添加到向车辆驾驶者显示的视野。第二覆盖图包括基于当前的车辆转向角度对车辆的计划行驶路径的表示、和对车辆的目标路径段的表示。
在第三方面的一个具体实施例中，停车辅助系统包括安装到车辆并具有后方视野的相机、在车辆中连接到相机并配置来显示该视野的图像的显示器、和配置来在两种操作模式下操作停车辅助系统的控制器。在第一操作模式中，控制器配置来添加第一覆盖图到该视野的图像，其中第一覆盖图包括对目标停车位置的表示。在第二操作模式中，控制器配置来添加第二覆盖图到视野的图像，其中第二覆盖图包括基于当前的车辆转向角度对车辆的计划行驶路径的表示、和对车辆的目标路径段的表示。
在第四方面，本发明涉及用于车辆的停车辅助系统，其中停车辅助系统选择车辆要停车在目标停车点所遵循的多个目标路径段，其中每个目标路径段包含具有直线指向或锁死的转向轮的车辆。
在第四方面的一个具体实施例中，停车辅助系统包括安装到车辆并具有后方视野的相机、在车辆中连接到相机并配置来显示该视野的图像的显示器、和配置来选择车辆要停车在目标停车点所遵循的多个目标路径段的控制器。每个目标路径段包含具有直线指向或锁死的转向轮的车辆。
附图说明
现在将仅仅参照附图通过例子说明本发明，其中：
图1是根据本发明的一个实施例的停车辅助系统的示意图；
图2是在作为图1中所示停车辅助系统的一部分的显示器上的相机视野图像的视图；
图3是在图2中所示显示器上的相机视野图像的视图，停车辅助系统处于停车点定位模式；
图4是在图3中所示显示器上的相机视野图像的视图，在车辆已经行驶过目标停车点之后，停车辅助系统处于停车点定位模式；
图5是在图3中所示显示器上的相机视野图像的视图，在车辆已倒退到要停车在目标停车点的合适位置之后，停车辅助系统处于停车点定位模式；
图6是在图3中所示显示器上的相机视野图像的视图，停车辅助系统处于停车导引模式，示出了在车辆的计划行驶路径和车辆的第一目标路径段之间的对准；
图7a-7d是在图3中所示显示器上的相机视野图像的视图，停车辅助系统处于停车导引模式，示出了车辆沿第一目标路径段行进；
图8a-8c是在图3中所示显示器上的相机视野图像的视图，停车辅助系统处于停车导引模式，示出了朝向在车辆的计划行驶路径和车辆的第二目标路径段之间对准的行进；
图9a和9b是在图3中所示显示器上的相机视野图像的视图，停车辅助系统处于停车导引模式，示出了车辆沿第二目标路径段行进；
图10a-10d是在图3中所示显示器上的相机视野图像的视图，停车辅助系统处于停车导引模式，示出了朝向在车辆的计划行驶路径和车辆的第三目标路径段之间对准的行进；
图11是在图3中所示显示器上的相机视野图像的视图，停车辅助系统处于停车导引模式，示出了车辆几乎已完成车辆的第三目标路径段；以及
图12是在图3中所示显示器上的相机视野图像的视图，停车辅助系统处于停车导引模式，其中车辆正停在垂直停车点。
具体实施方式
参照图1，其示出了按照本发明的一个实施例的用在车辆11中的停车辅助系统10。停车辅助系统包括相机12、控制器14和显示器16。相机12定位在车辆11上用于向后观察，并具有大致以18所示的视野。控制器14与相机12通信并向定位在车辆驾驶室中的显示器16发送视野18的图像20(图2)。定位显示器16来向车辆驾驶者显示视野18的图像20。
当车辆驾驶者想使用停车辅助系统10(图1)时，他或她按下车辆11的内部中的按钮，其致动停车辅助系统10处于作为停车点定位模式的第一模式。当处于停车点定位模式时，控制器14添加覆盖图22(图3)到图像20，其辅助驾驶者发现车辆11(图1)的合适停车点。覆盖图22(图3)包括表示目标停车位置的矩形24，目标停车位置与车辆1(图1)向后偏离选定距离并且横向偏离选定距离。矩形24(图3)的尺寸优选地基本代表车辆11(图1)的长度，并更优选地基本代表车辆11(图1)的宽度。
覆盖图22(图3)还包括沿矩形24的外边缘(以28示出)(即从停车点面向外的矩形24的侧边缘)延伸的线26。
线26在矩形24前方延伸选定距离并在矩形24后方延伸选定距离，并辅助车辆11的驾驶者对直车辆11平行于停车道。
利用在图像20上所示的覆盖图22，驾驶者沿道路行驶直到他或她发现图4中以30所示的潜在停车点。在图中所示的例示的实施例中，驾驶者向前驾驶发现潜在停车点30。如图4所示，车辆11已超过潜在停车点30，因此矩形24的前边缘太向前，与潜在停车点30的前方的车辆(以32示出)重叠。已驾驶得太向前，驾驶者可以把车辆11(图1)放到倒档以便倒退来将矩形24叠加在潜在停车点30上。
当车辆倒车时，车辆的计划行驶路径的表示34被添加以包括在与在显示器16上所示的图像20一起提供的覆盖图22内。表示34是基于车辆的转向角度并随转向角度改变而更新。
表示34包括诸如侧向边缘线36和距离标记38的几个特征。侧向边缘线36对应于车辆的侧向边缘。每个距离标记38对应于车辆后方的选定距离，优选地按照均匀的增量。
如图5所示，车辆11(图1)已充分倒退来将矩形24叠加在潜在停车点30上。一旦在这个位置，驾驶者能够看到车辆11(图1)具有在停车点30安放的足够空间。矩形24的长度可选地能够是车辆要求的在停车点安放的长度，而不是简单地表示车辆11(图1)本身的长度。如本领域技术人员应该理解的是，车辆(图1)要停车在停车点所要求的长度比车辆(图1)本身的长度略长。
一旦驾驶者已决定停车点30(图5)是合适的，他或她可以按下在仪表盘上的另一按钮，以便致动停车辅助系统10(图1)处于停车导引模式，如图6所示。
在停车导引模式中，停车辅助系统10(图1)确定车辆1要遵循的目标路径，以便在启动停车导引模式的时刻停车在由矩形24(图6)勾画的停车点中。
当在停车导引模式中时，两个表示在显示器16上示出。一个是在当前转向角度下的车辆计划行驶路径的前述表示34。另一个是要到达由矩形24(图5)勾画的停车点的一段目标路径的以40a所示的表示。
初始，驾驶者转动车辆转向轮直到车辆的计划行驶路径表示34基本与目标路径段表示40a对齐。当它们恰当地对齐时，停车辅助系统10可以通知驾驶者他/她能够行进来沿目标路径倒退车辆。替换地，在显示器16上可视的表示34和40a的对齐本身可以被认为是通知驾驶者计划行驶路径恰当地匹配目标路径。
参照图7a、7b、7c和7d，当驾驶者逐渐沿目标路径段倒退车辆时，目标路径表示40a的远端部分42从一种颜色变为另一种颜色，缩短了表示40a的保持第一种颜色的近端部分44的长度。这给驾驶者提示：在进行停车操纵的另一阶段之前还需要驾驶多少目标路径段。
一旦车辆已驾驶过整个目标路径段，停车辅助系统10选择车辆要遵循的下一段目标路径并将它在显示器16上表示为图8a所示的表示40b。第二目标路径段表示40b在停车操作的拐入阶段中导引驾驶者。在图8a所示的时间点处，由于刚刚完成的第一目标路径段是直线段，因此车辆的转向轮仍然笔直指向。因此，在图8a所示的时间点处，以34表示的驾驶者的计划行驶路径与以40b表示的第二目标路径段不对齐。
当驾驶者转动转向轮来将车辆的计划行驶路径与目标路径段对齐时，计划行驶路径表示34变得逐渐与目标路径段表示40b对齐并叠加，如图8b所示。在驾驶者充分转动转向轮之后，车辆的计划行驶路径与车辆的目标路径段对齐，如图8c的表示34和40b所示。图8a、8b和8c所示的目标路径段可以是转向轮锁死(即车辆能够实现的最大转向角度)下的路径。
图9a和9b示出了车辆沿第二目标路径段前进。一旦车辆已沿整个第二目标路径段移动，停车辅助系统10选择车辆要遵循的在图10a中以40c表示的下一(即第三)目标路径段。第三目标路径段是停车操作的塞入阶段并要求驾驶者转动转向轮到相反极限。图10a-10d示出了驾驶者转动转向轮来使计划行驶路径与第三目标路径段对齐。
一旦计划行驶路径和第三目标路径段对齐，驾驶者沿第三目标路径段倒退车辆。图11示出了车辆已完成几乎全部第三目标路径段。在完成第三目标路径段之后，驾驶者已完成整个停车操作。可选地，如果期望，他/她能够向前驾驶，以调整驾驶者的车辆和前后车辆之间的间隔。
应该注意，停车操作包括三个阶段：其中车辆沿直线(转向轮笔直指向)倒退的倒退阶段，其中车辆在转向轮沿一个方向锁死下倒退的拐入阶段，和其中车辆在转向轮沿另一方向锁死下倒退的塞入(tuck-in)阶段。提供其中转向轮笔直指向或锁死(at full lock)的目标路径段简化了计划行驶路径与目标路径段对齐的过程，并简化了保持车辆沿目标路径段。
当沿目标路径段倒退车辆时，如果驾驶者由于某种原因转离目标路径多于选定的量，停车辅助系统10通知驾驶者，并可选地中断停车操作。
可选地，停车辅助系统10能够允许驾驶者选择停车点是在车辆的左侧(如图所示)还是在车辆的右侧。对于在车辆右侧的停车点，拐入和塞入阶段将是图8a-11所示的拐入和塞入阶段的镜像。
应该理解，三个目标路径段不需要全部是相同的长度。
应该注意，矩形24(图5)位于车辆的后方以及侧面的固定位置。尽管在其中停车辅助系统10允许选择停车点在车辆的另一侧(即右侧)的可选实施例中它可以是镜像的，每次车辆要停车时，停车操作的目标路径因而是相同的。作为停车操作中一致性的结果，每次车辆使用停车辅助系统10时不必重新计算停车操作。这允许停车辅助系统10使用相对不贵的控制硬件和软件来操作。
在以上说明中，驾驶室内显示器16用作人/机界面并为驾驶者提供驾驶车辆进入停车点的可视/图像指示。除了使用驾驶室内显示器16或替代使用驾驶室内显示器16，能够通过其它设备向驾驶者提供指示。例如，人/机界面可能包括扬声器(例如来自车辆的音响系统)并可能通过扬声器发送音频信息到驾驶者。这些信息可能是诸如英语的任何语言的指示。例如，能够可听见地给出指示来转动车辆转向轮到选定位置(例如锁死到左侧)。应该注意，这种指示将有效地通知驾驶者车辆的目标路径。除了音频信息或替代它们，在停车过程中在需要驾驶者执行新操作的点处可能发出钟鸣声或嘟嘟声，以便让驾驶者获知他/她偏离方向，以便让驾驶者获知他/她在航向上(即车辆计划行驶路径匹配目标路径)，或用于其它任何合适的目的。
在以上说明中说明了平行停车进入停车点的方法和系统。本发明的实施例也能够停车进垂直停车点30(参见图12)。垂直停车点30是与驾驶时车辆行进方向垂直的停车点。垂直停车点典型地用在商场、办公楼等的停车场。在图12所示的位置中，车辆已完成部分停车过程并正在倒进停车点30。
虽然以上说明组成本发明的多个实施例，但是应该理解在不脱离所附权利要求书的清楚含义下本发明能够做出进一步修改和变化。

Claims (15)

1.一种车辆的停车辅助系统，所述停车辅助系统包括：
安装到车辆以拍摄后方场景的图像的相机；
在车辆中连接到相机并配置成显示所拍摄的该后方场景的图像的显示器；
控制器，其能够响应于第一用户输入的致动在第一模式下操作，并且能够响应于第二用户输入的致动在第二模式下操作；
其中，当在第一模式下操作时，控制器对所显示的该后方场景的图像添加第一覆盖图，其中第一覆盖图包括一表示，该表示包括向后偏离车辆选定距离并且横向偏离车辆选定距离的矩形；以及
其中该矩形具有代表实质上车辆长度的长度，并且其中该表示具有代表实质上车辆宽度的宽度；
其中在车辆行驶的同时控制器能够在第一模式下操作；
其中当车辆倒车时，控制器能够在第二模式下操作，并且其中，当在第二模式下操作时，控制器对所显示的该后方场景的图像添加第二覆盖图和第三覆盖图；
其中第二覆盖图包括基于车辆转向角度的车辆计划向后行驶路径的表示；以及
其中控制器配置成确定车辆目标路径以引导驾驶员至目标停车位置，并且其中第三覆盖图包括该目标路径的表示。
2.根据权利要求1所述的停车辅助系统，其中该第一覆盖图包括沿矩形的外边缘延伸的线，该线在矩形前方和后方延伸选定距离以辅助车辆驾驶员对直车辆平行于目标停车位置。
3.根据权利要求1所述的停车辅助系统，其中目标停车位置平行于车辆的行进方向。
4.根据权利要求1所述的停车辅助系统，其中目标停车位置垂直于车辆的行进方向。
5.根据前述任一项权利要求所述的停车辅助系统，其中
控制器配置成通知驾驶者基于当前车辆转向角度的车辆计划行驶路径，并通知驾驶者计划行驶路径是否实质上与目标路径匹配。
6.根据权利要求5所述的停车辅助系统，其中在车辆沿着道路向前行驶的同时，控制器能够在第一模式下操作。
7.根据权利要求5所述的停车辅助系统，其中当车辆沿目标路径移动时，该控制器添加车辆在目标路径上的进程的表示。
8.根据权利要求5所述的停车辅助系统，其中车辆计划行驶路径的表示具有代表实质上车辆整个宽度的宽度。
9.根据权利要求5所述的停车辅助系统，其中控制器通过扬声器通知驾驶者目标路径段。
10.根据权利要求9所述的停车辅助系统，其中通过指示驾驶者将车辆的转向轮转动到选定位置，控制器通知驾驶者目标路径段。
11.根据权利要求5所述的停车辅助系统，其中控制器通过扬声器通知驾驶者计划行驶路径是否与目标路径匹配。
12.根据权利要求1-4任一项所述的停车辅助系统，其中
控制器配置成选择车辆要遵循的多个目标路径段，其中每个目标路径段使车辆的转向轮笔直指向或锁死。
13.根据权利要求12所述的停车辅助系统，其中所述多个目标路径段是三个目标路径段，包括：其中车辆向后直线驾驶的第一目标路径段，其中车辆在转向轮沿一个方向锁死下向后驾驶的第二目标路径段，和其中车辆在转向轮沿相反方向锁死下向后驾驶的第三目标路径段。
14.根据权利要求13所述的停车辅助系统，其中每个目标路径段的长度从一个停车操作到另一个停车操作保持恒定。
15.根据权利要求12所述的停车辅助系统，其中控制器通过显示器和扬声器中的至少一个通知驾驶者目标路径段。
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US20180134315A1 (en) 2018-05-17
US10569804B2 (en) 2020-02-25
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