KR101470246B1 - Method of tracking parking space and apparatus performing the same - Google Patents

Method of tracking parking space and apparatus performing the same Download PDF

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Publication number
KR101470246B1
KR101470246B1 KR1020130144526A KR20130144526A KR101470246B1 KR 101470246 B1 KR101470246 B1 KR 101470246B1 KR 1020130144526 A KR1020130144526 A KR 1020130144526A KR 20130144526 A KR20130144526 A KR 20130144526A KR 101470246 B1 KR101470246 B1 KR 101470246B1
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KR
South Korea
Prior art keywords
distance
vehicle
obstacle
reflected wave
parking space
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KR1020130144526A
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Korean (ko)
Inventor
동성모
박만수
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현대오트론 주식회사
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Priority to KR1020130144526A priority Critical patent/KR101470246B1/en
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    • 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
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/06—Automatic manoeuvring for parking
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B60W2050/143—Alarm means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
    • B60W2420/54—Audio sensitive means, e.g. ultrasound
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/10—Longitudinal speed
    • B60W2550/10—
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2300/00—Purposes or special features of road vehicle drive control systems
    • B60Y2300/06—Automatic manoeuvring for parking
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2400/00—Special features of vehicle units
    • B60Y2400/90—Driver alarms

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Human Computer Interaction (AREA)
  • Automation & Control Theory (AREA)
  • Traffic Control Systems (AREA)
  • Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)

Abstract

A parking space detecting method executed in a parking space detecting apparatus mounted on a vehicle that attempts to park in a parking space according to an embodiment of the present invention is characterized in that the speed of the vehicle and the distance between the vehicle and the obstacle are Determining whether a distance between the vehicle and the obstacle is within a predetermined distance, and determining a distance between the vehicle and the obstacle according to a result of the determination; . Therefore, according to the present invention, the distance detection by the sensor is additionally performed according to the speed of the vehicle and the distance between the vehicle and the obstacle, thereby improving the accuracy in detecting the parking space.

Description

FIELD OF THE INVENTION [0001] The present invention relates to a parking space detection method,

Embodiments of the present invention are directed to a parking space detection method and apparatus for implementing the same.

Generally, a driver parks in a parking lot when the vehicle is not in operation, and rotates the steering wheel provided in the vehicle at a predetermined angle toward a place partitioned in the parking lot, thereby parking the desired position. A normal driver feels more difficult to drive when parking the vehicle than when driving, and feels more difficult when it is difficult to recognize the surrounding objects such as nighttime.

Thus, parking vehicles are the most difficult part of a novice driver or female driver. The novice or female driver may require more attention and time to perform parallel or in-line parking using the vehicle than an experienced driver.

In addition, a novice driver or a female driver consumes a considerable amount of time to enter the parking position, and in a state in which the driver can not accurately recognize the surrounding objects at night, It requires careful attention.

To solve this problem, a device has been developed which facilitates the parking of a vehicle driver by using an ultrasonic sensor. Such an apparatus scans a parking space while a driver of a vehicle tries to park the vehicle. In the course of scanning the parking space, when a possibility of collision with another obstacle is detected, a specific sound is emitted to the driver, Help to park.

Generally, when the speed of the vehicle is less than a predetermined speed, the ultrasonic sensor can acquire the distance data by scanning the distance between the vehicle and the obstacle. However, an ultrasonic sensor whose vehicle speed is higher than a predetermined speed can not accurately obtain the distance data with respect to the traveling distance of the vehicle because it can not precisely scan the distance to the obstacle.

Thus, when the speed of the vehicle is equal to or higher than a predetermined speed, the ultrasonic sensor for scanning the parking space acquires a small amount of distance data compared to the traveling distance of the vehicle. As the amount of distance data decreases, errors in detection of obstacles increase, It becomes difficult to accurately detect the signal.

The object of the present invention is to provide a parking space detection method and an apparatus for implementing the same, which can increase the accuracy in detection of a parking space by further performing the distance detection by the sensor in accordance with the speed of the vehicle and the distance between the vehicle and the obstacle .

Further, according to the present invention, when a candidate obstacle is detected in the current distance detection, it is possible to determine whether the candidate obstacle is a final obstacle or a false obstacle according to whether a candidate obstacle is detected again within a specific distance after the start of the next distance detection process, Which can reduce the probability of outputting false data according to the fluid change of the distance detection cycle of the vehicle.

The problems to be solved by the present invention are not limited to the above-mentioned problem (s), and another problem (s) not mentioned can be clearly understood by those skilled in the art from the following description.

Among the embodiments, a parking space detection method implemented in a parking space detection device mounted on a vehicle that tries to park in a parking space is characterized in that the speed of the vehicle and the distance between the vehicle and the obstacle are set to be Determining whether a distance between the vehicle and the obstacle is within a predetermined distance, and determining a distance between the vehicle and the obstacle according to a result of the determination; .

Among the embodiments, a parking space detecting device mounted on a vehicle that tries to park in a parking space includes a sensor for measuring the speed of the vehicle and a distance between the vehicle and the obstacle, respectively, in accordance with the movement of the vehicle, And a controller for determining whether the distance between the vehicle and the obstacle is within a predetermined distance and controlling the distance detection period to detect the distance between the vehicle and the obstacle according to the determination result.

The details of other embodiments are included in the detailed description and the accompanying drawings.

BRIEF DESCRIPTION OF THE DRAWINGS The advantages and / or features of the present invention, and how to accomplish them, will become apparent with reference to the embodiments described in detail below with reference to the accompanying drawings. It should be understood, however, that the invention is not limited to the disclosed embodiments, but is capable of many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, To fully disclose the scope of the invention to those skilled in the art, and the invention is only defined by the scope of the claims. Like reference numerals refer to like elements throughout the specification.

According to the present invention, distance detection by a sensor is additionally performed according to the speed of the vehicle and the distance between the vehicle and the obstacle, thereby improving the accuracy in detecting the parking space.

According to the present invention, when a candidate obstacle is detected in the current distance detection, it is possible to determine whether the candidate obstacle is a final obstacle or a false obstacle according to whether a candidate obstacle is detected again within a specific distance after the next distance detection process is started , The probability that the false data is outputted according to the fluid change of the distance detection cycle of the sensor can be reduced.

1 is a block diagram for explaining an internal structure of a parking space detecting apparatus according to an embodiment of the present invention.
2 is a flowchart illustrating a method of detecting a parking space according to an embodiment of the present invention.
FIG. 3 is a flowchart for explaining another embodiment of a parking space detecting method according to the present invention.
FIG. 4 is a reference diagram for explaining a process of the distance detection by the parking space detecting apparatus according to an embodiment of the present invention.
FIG. 5 is a reference diagram for explaining a process of determining a distance data set by a parking space detecting apparatus according to an embodiment of the present invention. Referring to FIG.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.

1 is a block diagram for explaining an internal structure of a parking space detecting apparatus according to an embodiment of the present invention.

1, the parking space detecting apparatus 100 includes a speed sensor 110, an ultrasonic sensor 120, and a control unit 130. The mode selecting unit 140 and the alarm generating unit 150 ).

The speed sensor 110 measures the moving speed of the vehicle to be parked and provides it to the control unit 130.

The ultrasonic sensor 120 transmits ultrasonic waves toward the obstacle according to the movement of the vehicle to be parked and measures the distance data between the obstacle and the vehicle to be parked by using the reflected wave when the reflected wave due to the obstacle is received, .

The ultrasonic sensor 120 provides the distance data set to the controller 130 after the distance detection process is completed. At this time, the ultrasonic sensor 120 can perform a distance detection process for a distance detection cycle (for example, a maximum distance of 4.5 m)

The ultrasonic sensor 120 performs a next distance detection process corresponding to the same distance detection cycle when the current distance detection process corresponding to the distance detection period is completed.

In one embodiment, the ultrasonic sensor 120 may terminate the current distance detection and begin the next distance detection under the control of the controller 130. For example, the ultrasound sensor 120 may perform the next distance detection of 3.5 m, which is the distance detection period, when the distance detection period of 3.5 m is terminated, under the control of the controller 130.

The control unit 130 may control the other components of the parking space detecting apparatus 100 to automatically park the parking target vehicle.

The control unit 130 may control at least one of parallel parking and vertical parking according to the user's operation. For example, if the driver presses the horizontal parking menu among the menus displayed on the screen and releases the foot from the brake, the control unit 130 can control the horizontal parking of the vehicle to be parked to start. For example, when the driver selects vertical parking through the remote controller and releases his / her foot from the brake, the control unit 130 can control the vertical parking of the vehicle to be parked to start.

The control unit 130 receives the moving speed of the vehicle to be parked from the speed sensor 110 and receives the distance between the obstacle and the vehicle to be parked from the ultrasonic sensor 120. [ The control unit 130 determines whether the moving speed of the vehicle to be parked is equal to or greater than a specific speed and controls the ultrasonic sensor 120 to maintain the current distance detection process when the speed of the vehicle to be parked is less than a predetermined speed.

On the other hand, if the moving speed of the vehicle to be parked is not less than the specific speed, the controller 130 determines whether the distance between the vehicle to be parked and the obstacle is within a specific distance. For example, if the moving speed of the vehicle to be parked is 10 km / h, the control unit 130 can determine whether the distance between the vehicle to be parked and the obstacle is within 2 m.

If the speed of the vehicle to be parked is equal to or greater than a predetermined speed and the distance between the vehicle to be parked and the obstacle is within a predetermined distance, the control unit 130 may control the distance detection period to detect the distance between the vehicle and the obstacle. In one embodiment, the control unit 130 may reduce the distance detection period according to the speed of the vehicle.

More specifically, when the current distance detection process is performed by the distance detection period determined according to the speed of the vehicle, the control unit 130 terminates the current distance detection process, and at the same time, the ultrasonic sensor 120 Can be controlled.

When the reflected wave of the ultrasonic wave transmitted to the obstacle in the current distance detection process is reflected and received in the next distance detection process, the controller 130 determines whether or not the reflected wave It is determined whether or not it is a reflected wave caused by an obstacle. At this time, if the reflected wave is determined to be a false reflection wave, the controller 130 may delete the distance data acquired through the reflected wave from the distance data set.

In one embodiment, if the same distance data exists in the set of distance data obtained in each distance detection process, the controller 130 determines the type of the reflected wave as a reflected wave of the obstacle. For example, if a candidate obstacle is detected in the first distance detection process and the same candidate obstacle is detected again within a certain distance after the second distance detection process is started, the candidate obstacle can be determined as a final obstacle.

In another embodiment, the control unit 130 determines the type of the reflected wave as a false reflected wave if the same distance data does not exist in the set of distance data obtained in each distance detection process. For example, if a candidate obstacle is detected in the first distance detection process but the same candidate obstacle is not detected again within a certain distance after the second distance detection process is started, the candidate obstacle can be determined as a false obstacle.

The controller 130 can detect the corner point of the obstacle using the distance data set and attempt parking.

The mode selection unit 140 may receive an input for at least one of parallel parking, vertical parking, and parallel departure from the driver and may provide the control unit 130 with the input. In one embodiment, the mode selection unit 140 may receive user input through the selection menu displayed on the screen. In another embodiment, mode selector 140 may receive user input via remote means.

The warning sound generating unit 150 generates a specific warning sound according to the collision possible situation. In one embodiment, the warning sound generating unit 140 may generate a warning sound corresponding to the distance if the distance between the vehicle to be parked and the obstacle is less than a specific distance. For example, when the distance between the vehicle to be parked and the obstacle is 30 cm, the warning sound generating unit 140 may generate a warning sound that is longer and longer than when it is 50 cm.

2 is a flowchart illustrating a method of detecting a parking space according to an embodiment of the present invention. 2 is a flowchart for explaining an embodiment in which the parking space can be detected when the speed of the vehicle is equal to or higher than a constant speed and the distance between the vehicle and the obstacle is within a predetermined distance.

Referring to FIG. 2, the parking space detecting device 100 receives the speed of the vehicle to be parked and the distance between the obstacle and the vehicle to be parked, respectively, from the sensor of the vehicle to be parked (step S210). The parking space detecting apparatus 100 determines whether the speed of the vehicle to be parked is equal to or higher than a predetermined speed (step S220). The parking space detecting apparatus 100 determines whether the distance between the vehicle to be parked and the obstacle is within a specific distance (step S230) if the speed of the vehicle to be parked is a predetermined speed or more (step S220). If the distance between the vehicle to be parked and the obstacle is within a specific distance (step S230), the parking space detecting apparatus 100 controls a distance detection period to detect the distance between the vehicle to be parked and the obstacle (step S240).

FIG. 3 is a flowchart for explaining another embodiment of a parking space detecting method according to the present invention. Another embodiment disclosed in FIG. 3 relates to an embodiment in which the possibility of outputting false distance data by the ultrasonic sensor can be controlled according to a fluid change of the detection distance of the ultrasonic sensor.

The parking space detection apparatus 100 receives a set of distance data obtained in each of the distance detection processes (step S310). The parking space detecting apparatus 100 determines whether a reflected wave of ultrasonic waves transmitted toward the obstacle in the first distance detection process is received in the second distance detection process (step S320).

When the reflected wave of the ultrasonic wave transmitted toward the obstacle in the first distance detection process is received in the second distance detection process (step S330), the parking space detection device 100 detects the first distance and the second distance obtained in the first distance detection process and the second distance detection process It is determined whether or not the same distance data exists in each set of distance data (step S340).

If the same distance data does not exist in each set of distance data (step S340), the parking space detecting apparatus 100 can determine the type of the reflected wave as a false reflected wave (step S360). For example, when the candidate obstacle is detected in the current distance detection process and the candidate obstacle is not detected again within a specific distance after the next distance detection process is started, the parking space detection apparatus 100 may determine the candidate obstacle as a false obstacle have.

On the other hand, although not shown in FIG. 3, if the same distance data exists in each distance data set (step S340), the parking space detecting apparatus 100 can determine the type of the reflected wave as a reflected wave due to the obstacle. For example, the parking space detection apparatus 100 can determine a candidate obstacle as a final obstacle if a candidate obstacle is detected in the current distance detection process and the candidate obstacle is detected again within a specific distance after the next distance detection process is started.

The parking space detecting apparatus 100 deletes the distance data obtained using the reflected wave from the distance data set (step S370).

FIG. 4 is a reference diagram for explaining a process of the distance detection by the parking space detecting apparatus according to an embodiment of the present invention.

4, when the speed of the vehicle 410 to be parked is equal to or lower than a predetermined speed, the parking space detecting device 100 detects a distance (for example, And executes the detection process. That is, the parking space detecting apparatus 100 can generate the distance data by measuring the distance between the parking target vehicle 410 and the obstacle by the distance detection period.

If the speed of the vehicle 410 to be parked is equal to or higher than a predetermined speed and the distance between the vehicle 410 and the obstacle 420 is within a predetermined distance, The distance between the obstacle 420 and the obstacle 420 can not be precisely scanned.

In order to solve such a problem, the parking space detecting apparatus 100 decreases the distance detection cycle according to the speed of the vehicle 410 to be parked so that the distance detection process is repeatedly performed. For example, the parking space detection apparatus 100 may reduce the distance detection period from 4.5 m to 2 m and repeat the distance detection process corresponding to the same distance detection period 411 twice.

As described above, since the parking space detecting apparatus 100 repeatedly executes the distance detection process with the same distance detection period 411 after reducing the detection period, Lt; RTI ID = 0.0 > 420 < / RTI > Since the parking space detecting apparatus 100 detects the corner points of the obstacle 420 by using the distance data and controls the parking target vehicle 410 to be parked in the parking space, it is possible to increase the accuracy in detecting the parking space It is effective.

FIG. 5 is a reference diagram for explaining a process of determining a distance data set by a parking space detecting apparatus according to an embodiment of the present invention. Referring to FIG.

5, when the speed of the parking target vehicle 410 is equal to or higher than a predetermined speed and the distance between the parking target vehicle 410 and the obstacle 420 is constant (see FIG. 4) The distance detection period is decreased according to the speed of the vehicle 410 to be monitored so that the distance detection process is repeatedly performed.

Generally, the parking space detecting apparatus 100 can obtain ultrasonic waves toward the obstacle and obtain the distance data between the obstacle 420 and the parking target vehicle 410 by using the reflected wave reflected from the obstacle 420. However, when the distance detection period is changed in a fluid manner, a reflected wave of the ultrasonic wave transmitted toward the obstacle in the first distance detection process may be received in the second distance detection process. In such a case, it is difficult for the parking space detecting apparatus 100 to distinguish whether the reflected wave is a reflected wave due to an obstacle or a reflected wave due to a false obstacle.

Thus, when receiving from the parking area detection unit 100 is a first distance detection process and transmits the ultrasonic waves in the T 1 to the obstacle 420, the obstacle 420, the reflected wave reflected second distance detection process at T 2, The parking space detecting apparatus 100 detects the distance data set obtained in the first distance detecting process T 1 and If the same distance data is present in the distance data set obtained in the second distance detection process T 2 , the corresponding reflected wave is recognized as a reflected wave by the obstacle 420. If the same distance data does not exist, the reflected wave is recognized as a false reflected wave .

For example, if the candidate obstacle is detected in the first distance detection process based on the obtained candidate obstacle detection result in each distance detection process, the parking space detection device 100 may detect If the same candidate obstacle is detected again within the distance, the candidate obstacle is determined as the final obstacle. On the other hand, if the same candidate obstacle is not detected again within a certain distance, the candidate obstacle is determined to be a false obstacle.

The parking space detecting apparatus 100 can delete the distance data acquired through the reflected wave from the distance data set when the reflected wave is determined as the false reflected wave and calculate the distance data obtained through the mirror reflection wave determined as the reflected wave by the obstacle 420 Can be maintained in the distance data set.

While the present invention has been described in connection with what is presently considered to be practical exemplary embodiments, it is to be understood that the invention is not limited to the disclosed embodiments. Therefore, the scope of the present invention should not be limited to the described embodiments, but should be determined by the scope of the appended claims and equivalents thereof.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed exemplary embodiments, but, on the contrary, Modification is possible. Accordingly, the spirit of the present invention should be understood only in accordance with the following claims, and all equivalents or equivalent variations thereof are included in the scope of the present invention.

100: Parking space detection device
110: Speed sensor
120: Ultrasonic sensor
130:
140: Mode selection unit
150:

Claims (16)

A method of detecting a parking space executed in a parking space detecting device mounted on a vehicle which attempts to park in a parking space,
Receiving a speed of the vehicle from the sensor and a distance between the vehicle and the obstacle, respectively, in accordance with the movement of the vehicle;
Determining whether the speed of the vehicle is equal to or greater than a predetermined speed and the distance between the vehicle and the obstacle is within a predetermined distance; And
And controlling the distance detection period to detect the distance between the vehicle and the obstacle according to the determination result
How to Detect Parking Spaces.
The method according to claim 1,
The step of controlling the detection period to detect the distance between the vehicle and the obstacle
And reducing the distance detection period in accordance with the speed of the vehicle
How to Detect Parking Spaces.
The method according to claim 1,
The step of controlling the distance detection period to detect the distance between the vehicle and the obstacle
And controlling the sensor to start the next distance detection process corresponding to the detection period when the current distance detection process corresponding to the distance detection period is completed
How to Detect Parking Spaces.
The method of claim 3,
And detecting the corner of the obstacle based on the set of distance data obtained in each of the current distance detection process and the next distance detection process to detect the parking space
How to Detect Parking Spaces.
5. The method of claim 4,
Further comprising the step of determining whether a reflected wave of ultrasonic waves transmitted toward the obstacle in the current distance detection process has been received in the next distance detection process
How to Detect Parking Spaces.
6. The method of claim 5,
Wherein the step of determining whether the reflected wave of the ultrasonic wave transmitted toward the obstacle in the current distance detection process is received in the next distance detection process
Determining whether the same distance data exists in each of the sets of distance data; And
And determining the type of the reflected wave according to the determination result
How to Detect Parking Spaces.
The method according to claim 6,
The step of determining the type of the reflected wave according to the determination result
Determining the kind of the reflected wave as a reflected wave due to the obstacle if the same distance data exists in each of the distance data sets; And
And determining the type of the reflected wave as a false reflected wave if the same distance data does not exist in each of the distance data sets
How to Detect Parking Spaces.
8. The method of claim 7,
The step of determining the type of the reflected wave according to the determination result
And deleting the distance data acquired through the reflected wave from the distance data set when the type of the reflected wave is determined to be a false reflected wave.
How to Detect Parking Spaces.
A parking space detection apparatus mounted on a vehicle that attempts to park in a parking space,
A sensor for measuring the speed of the vehicle and the distance between the vehicle and the obstacle in accordance with the movement of the vehicle; And
And a control unit for controlling the distance detection period to detect the distance between the vehicle and the obstacle according to a result of the determination, determining whether the speed of the vehicle is equal to or greater than a predetermined speed and the distance between the vehicle and the obstacle is within a predetermined distance doing
Parking space detection device.
10. The method of claim 9,
The control unit
Characterized in that the distance detection period is reduced according to the speed of the vehicle
Parking space detection device.
10. The method of claim 9,
The control unit
And when the current distance detection process corresponding to the distance detection period is completed, the sensor is controlled to start the next distance detection process corresponding to the detection period
Parking space detection device.
12. The method of claim 11,
The control unit
And detects the corner of the obstacle based on the set of distance data obtained in each of the current distance detection process and the next distance detection process to detect the parking space
Parking space detection device.
13. The method of claim 12,
The control unit
Wherein it is determined whether or not a reflected wave of ultrasound transmitted toward the obstacle in the current distance detection process is received in the next distance detection process
Parking space detection device.
14. The method of claim 13,
The control unit
Determines whether or not the same distance data is present in each of the distance data sets, and determines the type of the reflected wave according to the determination result
Parking space detection device.
15. The method of claim 14,
The control unit
Determines the type of the reflected wave as a reflected wave caused by the obstacle if the same distance data exists in each of the distance data sets, and determines the type of the reflected wave as a false reflected wave if the same distance data does not exist in each of the distance data sets Characterized in that
Parking space detection device.
16. The method of claim 15,
The control unit
When the type of the reflected wave is determined to be a false reflected wave, the distance data acquired through the reflected wave is deleted from the distance data set
Parking space detection device.
KR1020130144526A 2013-11-26 2013-11-26 Method of tracking parking space and apparatus performing the same KR101470246B1 (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108399781A (en) * 2017-02-06 2018-08-14 现代自动车株式会社 Sensor-based parking space search system and its method

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR960013848A (en) * 1994-10-19 1996-05-22 김주용 Vehicle collision prevention device and method using ultrasonic wave
KR100854766B1 (en) * 2007-04-27 2008-08-27 주식회사 만도 Method for detecting of parking area by using range sensor

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR960013848A (en) * 1994-10-19 1996-05-22 김주용 Vehicle collision prevention device and method using ultrasonic wave
KR100854766B1 (en) * 2007-04-27 2008-08-27 주식회사 만도 Method for detecting of parking area by using range sensor

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108399781A (en) * 2017-02-06 2018-08-14 现代自动车株式会社 Sensor-based parking space search system and its method
CN108399781B (en) * 2017-02-06 2021-07-27 现代自动车株式会社 Sensor-based parking space search system and method thereof

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