KR102421054B1 - The Apparatus And Method For Parking Guide - Google Patents

Abstract

A parking guide device according to an embodiment of the present invention for solving the above problems is a detection module for detecting a parking space around the vehicle when entering the parking mode; a lamp for irradiating light toward the parking space when the sensing module detects the parking space; a DMD mounted inside the lamp and driven to display the parking space in a portion of the irradiated light; and a control unit that determines a parking space through the sensing module, applies a driving command signal to the DMD, and applies a light irradiation command signal to the lamp.

Description

The Apparatus And Method For Parking Guide

The present invention relates to a parking guide apparatus and method, and more particularly, to automatically detect an empty space that can be parked so that a headlamp of a vehicle irradiates light toward the empty space, and at the same time, the empty space in the light pattern A parking guide device and method for indicating an arrow mark towards a space.

In general, a vehicle includes a lamp having a lighting function for easily identifying an object located around the vehicle during night driving and a signal function for notifying other vehicles or road users of the driving state of the vehicle.

For example, headlights and fog lights mainly serve a lighting function, and turn indicators, taillights, brake lights, and side markers mainly serve a signal function, and in some cases both a lighting function and a signal function. do. Among them, the headlamp for a vehicle has an essential function of securing the driver's field of vision at night by irradiating light in the same direction as the driving direction of the vehicle. In addition, the headlamp provides a high-beam mode that secures a field of view by illuminating the light far away, and a low-beam mode that does not cause glare to a driver of a vehicle traveling in front or a driver of an oncoming vehicle by illuminating a low light to prevent glare.

In addition, a headlamp whose light pattern is automatically changed in the high-beam mode and low-beam mode by detecting the state of the vehicle's surroundings through a camera sensor and a controller is being released, and the light of the headlamp according to the rotation angle of the steering wheel A headlamp that rotates in such a way that the irradiation direction is variable so that the light can shine in the driving direction of the vehicle is also being released.

On the other hand, while DBL (Dynamic Bend Lighting) of the headlamp irradiates light in the driving direction of the vehicle, in recent years, SBL (Static Bend Lighting) that irradiates light at an angle with respect to the driving direction of the vehicle is further installed. By illuminating the crosswalk before entering this intersection, the driver's visibility is widened and the risk of pedestrian accidents can be reduced.

Korean Patent Registration No. 1460724 Korean Publication No. 2008-0109409

The problem to be solved by the present invention is to automatically detect an empty space that can be parked, so that the headlamp of the vehicle irradiates light toward the empty space, and at the same time, parking showing an arrow mark toward the empty space in the pattern of light A guide device and method are provided.

The problems of the present invention are not limited to the problems mentioned above, and other problems not mentioned will be clearly understood by those skilled in the art from the following description.

A parking guide device according to an embodiment of the present invention for solving the above problems is a detection module for detecting a parking space around the vehicle when entering the parking mode; a lamp for irradiating light toward the parking space when the sensing module detects the parking space; a DMD mounted inside the lamp and driven to display the parking space in a portion of the irradiated light; and a control unit that determines a parking space through the sensing module, applies a driving command signal to the DMD, and applies a light irradiation command signal to the lamp.

A parking guide method according to an embodiment of the present invention for solving the above problems includes the steps of a vehicle entering a parking mode; detecting, by the sensing module, a parking space around the vehicle; determining, by a control unit, a space to park through the sensing module; applying, by the control unit, a light irradiation command signal to the lamp and a driving command signal to the DMD; irradiating light toward the parking space by the lamp; and driving a DMD mounted inside the lamp to indicate the parking space in a portion of the irradiated light.

Other specific details of the invention are included in the detailed description and drawings.

According to the embodiments of the present invention, there are at least the following effects.

It can automatically detect an empty space for parking while driving slowly to park the vehicle. In addition, the headlamp of the vehicle may irradiate light toward the empty space and, at the same time, indicate an arrow mark toward the empty space in the pattern of the light.

As a result, the driver can easily recognize a space to park at a distance even at night, especially when there is insufficient lighting outdoors.

The effect according to the present invention is not limited by the contents exemplified above, and more various effects are included in the present specification.

1 is a block diagram of a parking guide device 1 according to an embodiment of the present invention.
2 is a reference diagram illustrating the basic principle of a lidar (LIDAR) according to an embodiment of the present invention.
3 is a schematic diagram showing the structure of the lamp 13 according to an embodiment of the present invention.
4 is a schematic diagram illustrating a state in which Dynamic Bend Lighting (DBL) and Static Bend Lighting (SBL) are turned on toward the front of the vehicle 3 according to an embodiment of the present invention.
5 is a perspective view of a digital micro-mirror device (DMD 14) according to an embodiment of the present invention.
6 is a schematic diagram illustrating a state in which a voltage is applied (On) or blocked (Off) to the micro-mirror 141 according to an embodiment of the present invention.
7 and 8 are schematic diagrams illustrating a method for detecting a space in which the vehicle 3 in which the parking guide device 1 is installed according to an embodiment of the present invention is installed.
9 is a schematic diagram illustrating a state in which light is irradiated when the parking guide device 1 according to an embodiment of the present invention determines an empty space in which the vehicle 3 can park.
10 is a schematic diagram illustrating a state in which the DMD 14 receives a driving command signal from the electronic control unit (ECU) 12 according to an embodiment of the present invention.
11 is a flowchart illustrating a parking guide method according to an embodiment of the present invention.

Advantages and features of the present invention and methods of achieving them will become apparent with reference to the embodiments described below in detail in conjunction with the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below, but may be implemented in various different forms, and only these embodiments allow the disclosure of the present invention to be complete, and common knowledge in the technical field to which the present invention pertains It is provided to fully inform those who have the scope of the invention, and the present invention is only defined by the scope of the claims. Like reference numerals refer to like elements throughout.

Unless otherwise defined, all terms (including technical and scientific terms) used herein may be used with the meaning commonly understood by those of ordinary skill in the art to which the present invention belongs. In addition, terms defined in a commonly used dictionary are not to be interpreted ideally or excessively unless clearly defined in particular.

The terminology used herein is for the purpose of describing the embodiments and is not intended to limit the present invention. In this specification, the singular also includes the plural, unless specifically stated otherwise in the phrase. As used herein, “comprises” and/or “comprising” does not exclude the presence or addition of one or more other components in addition to the stated components.

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

1 is a block diagram of a parking guide device 1 according to an embodiment of the present invention.

As shown in FIG. 1, the parking guide device 1 according to an embodiment of the present invention includes a detection module 11 for detecting a parking space, a lamp 13 for irradiating light toward the parking space, The light source unit 131 included in the lamp 13 by receiving a signal from the DMD 14 (Digital Micro-mirror Device) and the detection module 11 included in the lamp 13 and driven to display the parking space. and an Electronic Control Unit (ECU) 12 that sends an operation signal to the DMD 14 .

The detection module 11 is installed on the front part or the side part of the vehicle 3 to detect an empty space to park. When the vehicle 3 enters the parking mode, the vehicle 3 lowers the speed and moves slowly. A separate input unit exists and the driver may enter the parking mode by directly performing an input to enter the parking mode, but may be set to automatically enter the parking mode when the vehicle moves slowly at a speed within a certain range. At this time, the detection module 11 detects an empty space that can be parked from both sides and the front of the vehicle 3 . A general sensor may be used as the detection module 11 , but a vision sensor such as a camera may also be used.

If a sensor is used as the detection module 11, it is preferable to use a remote object detection sensor such as a radar (RADAR) sensor using ultrasonic waves or a LIDAR sensor using a laser, but is not limited thereto.

If the detection module 11, a vision sensor such as a camera may be used. Vision is a machine with vision and judgment functions, and by taking an image using an image sensor, the system of hardware and software recognizes and judges the target object. Vision converts 3D space into 2D image information, so it is difficult to measure distance alone, but it has excellent ability to recognize and extract objects from captured images. Therefore, it is necessary to install an additional sensor or stereo camera to measure the distance.

Hereinafter, the detection module 11 according to an embodiment of the present invention will be described as a lidar sensor. However, the detection module 11 according to all embodiments of the present invention is not limited thereto, and various modules can be used as long as it can detect a parking space. A detailed description of the lidar will be provided later.

The lamp 13 irradiates light toward the empty space for parking detected by the detection module 11 . Although there are various types of lamps 13 installed in the vehicle 3 , the driver must be able to recognize a parking space by looking at the light irradiated from the lamps 13 . Accordingly, the ramp 13 according to an embodiment of the present invention is disposed in front or on the side of the vehicle 3 . The lamp 13 may be a headlamp installed at the front of the vehicle 3 , and among the headlamps, dynamic bend lighting (DBL) that irradiates light in the same direction as the driving direction of the vehicle 3 or the vehicle 3 . It may be SBL (Static Bend Lighting) which irradiates light obliquely with respect to the driving direction.

In general, in order for the vehicle 3 to park, it lowers the speed in the parking lot and moves slowly. And the driver looks around and finds a parking space. However, it is not easy for a driver to immediately recognize a space to park from a distance at night, especially when the lighting is insufficient outdoors. In addition, the parking space is generally located in the front side of the vehicle 3 rather than the front of the vehicle 3 , so that the driver may not immediately detect it. Therefore, it is preferable that the lamp 13 according to an embodiment of the present invention be SBL (Static Bend Lighting) disposed on the front left and right sides of the vehicle 3 . A detailed description of the SBL will be described later.

A DMD 14 (Digital Micro-mirror Device) is driven to indicate the parking space. The DMD 14 is a device formed using MEMS (Micro Electro Mechanical Systems) technology, and is a two-dimensional image in which a plurality of micro-mirrors 141, a type of optical element, are arranged in a matrix on a single substrate. forming device. As the light irradiated from the light source unit 131 included in the lamp 13 is reflected by the reflective surface of the DMD 14 , the light path is changed. However, since the reflection angles of the plurality of micromirrors 141 are different, light transmitted through the lens 133 and light not transmitted exist. Using this method, it is possible to make a special mark on the pattern of light transmitted to the outside of the lens 133 . A detailed description of the DMD 14 will be described later.

An electronic control unit (ECU) 12 receives inputs of various sensors mounted on the vehicle 3 , and controls the driving of the vehicle 3 as a whole. The sensing module 11 periodically sends a signal to the electronic control unit (ECU) 12 . When an empty space is detected by the detection module 11 , an electronic control unit (ECU) 12 calculates this and determines whether an empty space is available for parking. When it is determined that the empty space can be parked, the electronic control unit (ECU) 12 applies a command signal to the light source unit 131 and the DMD 14, respectively. Specifically, a light irradiation command signal is applied to the light source unit 131 to irradiate light, and a driving command signal for driving the actuator 142 to make a special mark on the pattern of light is applied to the DMD 14 . The special indication according to an embodiment of the present invention is preferably an arrow.

2 is a reference diagram illustrating the basic principle of a lidar (LIDAR) according to an embodiment of the present invention.

LIGHT Detection And Ranging (LIDAR, laser radar) is a radar system that measures the position coordinates of the target object (2) by emitting a laser pulse and measuring the time it takes to reflect and return. Although the accuracy of identifying objects (2) is somewhat inferior, LiDAR is being used in various fields such as more precise observation of properties in the atmosphere and distance measurement by utilizing its high energy density and ability to generate short-period pulse signals. If a LIDAR sensor is used, when a laser is shot outside the vehicle 3 , the laser hits an object 2 outside the vehicle 3 and is reflected. By receiving this reflected wave, it is possible to determine the distance, position, and even physical properties of the external object 2 .

The configuration of the LIDAR is varied depending on the field, but the basic configuration is a laser transmitter 111 that generates a laser and transmits a laser to the area to be scanned, as shown in FIG. It consists of a laser detection unit 112 for detecting a laser, a laser transmission unit 111 and a lens 113 for refracting the laser transmitted/received to and from the laser detection unit 112 to adjust the traveling direction. The lidar may further include a control unit for transmitting and receiving and processing signals and data. However, since the lidar according to an embodiment of the present invention is installed in the vehicle 3 , the electronic control unit (ECU) 12 performs the role of the control unit.

LiDAR can be divided into a time-of-flight (TOF) method and a phase-shift method according to the modulation method of the laser signal. In the TOF method, as shown in FIG. 2 , the laser transmitter 111 emits a laser pulse signal and measures the time it takes for the reflected pulse signals from the objects 2 within the measurement range to arrive at the laser detector 112 . How to calculate distance. The phase-shift method is a method of calculating the time and distance by emitting a laser beam that is continuously modulated with a specific frequency and measuring the phase change amount of the signal reflected from the object 2 within the measurement range.

The laser light source may have a specific wavelength or may have a variable wavelength in a wavelength range from 250 nm to 11 μm, and recently, a semiconductor laser diode featuring a small size and low power is widely used. Since the wavelength of the laser directly affects the transmittance and eye protection to the atmosphere, clouds, rain, etc., it is important to select the wavelength according to the field of use. Basically, in determining the performance of the optical scanner, laser power, wavelength, spectral characteristics, pulse width and shape, as well as receiver sensitivity and dynamic range, and characteristics of the optical filter and lens 113 are also major factors. Along with this, Field Of View (FOV) indicating the measurement angle of the receiver, Field Stop to select the measurement range, and the FOV overlap characteristics of the laser beam and the receiver are also important factors.

Existing lidar technologies have been mainly researched for the purpose of weather observation and distance measurement, and recently, technologies for weather observation from satellites, unmanned robot sensors, and 3D image modeling are being studied.

3 is a schematic diagram showing the structure of the lamp 13 according to an embodiment of the present invention.

The lamp 13 according to an embodiment of the present invention includes a light source unit 131 that emits light, at least one reflector 132 that reflects the light emitted from the light source unit 131 , and is reflected by the reflector 132 . A lens 133 for irradiating the applied light to the outside of the vehicle 3, and a DMD 14 for special marking on the pattern of the light when the light is projected on the road surface.

The light source unit 131 serves to emit light. The light source unit 131 according to an embodiment of the present invention uses a Light Emitting Diode (LED). The advantages of LED are that it gives less fatigue to the human eye, consumes less power, and can minimize the size of the design, resulting in greater design freedom. However, the present invention is not limited thereto, and a laser diode (LD), bulb-type lamp 13 may be used as a light source. As the bulb-type lamp 13 , a halogen lamp, a high intensity discharge (HID) lamp, or the like may be used. In addition, a plurality of light sources may be formed to satisfy a required amount of light, and the arrangement of the plurality of light sources may be variously changed.

The reflector 132 reflects the light emitted from the light source 131 toward the lens 133 positioned in front of the reflector 132 . The reflector 132 includes a reflective surface that reflects the light emitted from the light source unit 131 . The reflective surface may include a reflective layer formed of a material having high reflectivity, such as aluminum or chromium, through a deposition process. The lamp 13 may include one reflector 132 , but may include a plurality of reflectors 132 as shown in FIG. 3 . It is preferable that there are two reflectors 132 according to an embodiment of the present invention. In this case, the reflector 132 positioned above the light source unit 131 is referred to as a first reflector 132a , and the reflector 132 positioned below the light source unit 131 is referred to as a second reflector 132b .

The lens 133 serves to irradiate the light emitted from the light source unit 131 to the outside of the vehicle 3 . The light emitted from the light source is reflected by the reflector 132 or the DMD 14 and then projects the lens 133 . And it may be irradiated to the outside of the vehicle 3 and projected on the road surface. As shown in FIG. 3 , the lens 133 may be formed of an aspherical lens 133 , but is not limited thereto, and may include various types of lenses 133 including the spherical lens 133 .

The DMD 14 is connected to one end of the one reflector 132 and reflects the light irradiated from the light source unit 131 . As shown in FIG. 3 , the DMD 14 according to an embodiment of the present invention may be connected to one end of the second reflector 132b, and the DMD 14 is not constrained by the second reflector 132b, and thus freely can rotate

A portion of the light emitted from the light source unit 131 is incident on the second reflector 132b. The light incident on the second reflector 132b is reflected by the second reflector 132b. And as shown in FIG. 3 , it is directly transmitted through the lens 133 and irradiated to the outside of the vehicle 3 . The remaining part of the light emitted from the light source unit 131 is incident on the first reflector 132a. The light incident on the first reflector 132a is reflected by the first reflector 132a. And a part of the light reflected by the first reflector 132a directly passes through the lens 133 and is irradiated to the outside of the vehicle 3 . The remaining part of the light reflected by the first reflector 132a is incident on the DMD 14 as shown in FIG. 3 . Light incident on the DMD 14 is reflected by the DMD 14 . Thereafter, it is irradiated to the outside of the vehicle 3 through the lens 133 . Light passing through the lens 133 immediately after being reflected by the first and second reflectors 132a and 132b is irradiated to the outside of the vehicle 3 and projected on the road surface. However, the light that has passed through the lens 133 after being reflected by the DMD 14 makes a special mark on the pattern of the projected light, as will be described below. A detailed description of the method for making the special mark will be described later.

4 is a schematic diagram illustrating a state in which Dynamic Bend Lighting (DBL) and Static Bend Lighting (SBL) are turned on toward the front of the vehicle 3 according to an embodiment of the present invention.

Headlamps are installed on the front left and right sides of the vehicle 3 according to an embodiment of the present invention, respectively. The headlamp includes DBL (Dynamic Bend Lighting) for irradiating light in the driving direction of the vehicle 3 and SBL (Static Bend Lighting) for irradiating light obliquely with respect to the driving direction of the vehicle 3 . As shown in FIG. 4 , the light projected on the road surface by the DBL is equal to D, and the light projected on the road surface by the SBL is equal to S.

One headlamp is installed on the front left and right sides of the vehicle 3 , respectively. Accordingly, the SBL is also arranged one on the front left and right side of the vehicle 3 , so that the SBL installed on the left irradiates light obliquely to the left with respect to the traveling direction of the vehicle 3 , and the SBL installed on the right side is the vehicle 3 ). The light is irradiated obliquely to the right with respect to the driving direction of

In general, as shown in FIG. 4 , the SBL is turned on in advance before the vehicle 3 enters an intersection or a left or right turn road, and illuminates an area that the existing DBL cannot irradiate at the intersection. This is one mode of AFLS (Adaptive Front Lighting System) headlamps. When such SBL is implemented, it has the effect of illuminating the blind spot of light that even DBL cannot illuminate at an intersection or left and right turns by about 10m or more. Therefore, SBL can help the driver to drive safely by illuminating people or animals crossing the crosswalk, people or objects on the sidewalk (2). In order to implement such SBL, a separate reflective surface and light source should be added to the headlamp. That is, the DBL of the headlamp secures visibility on curved roads, and by installing a separately configured reflective mirror (MFR) and a separate light source on the inboard side of the headlamp, the driver's visibility at the intersection is secured. to implement the action.

As described above, since the parking space is generally located on the left and right sides of the driver's front rather than in front of the driver, the driver may not be able to detect it immediately. It is preferable that it is SBL (Static Bend Lighting) disposed on the front left and right sides of the . Therefore, it is preferable that the DMD 14 that makes a certain mark on the road surface when light is irradiated is installed in the SBL.

In the SBL according to an embodiment of the present invention, when the vehicle 3 is in a general driving mode, as described above, when the vehicle 3 turns left or right at an intersection or a left or right turn, the vehicle 3 automatically turns left or right. It serves to irradiate light in the corresponding direction. However, when the vehicle 3 enters the parking mode, it serves to irradiate light toward an empty space for parking. That is, the role of the SBL varies depending on whether the vehicle 3 is in a driving mode or a parking mode.

5 is a perspective view of a Digital Micro-mirror Device (DMD) 14 according to an embodiment of the present invention.

DMD (Digital Micro-mirror Device) 14 is a device formed using MEMS (Micro Electro Mechanical Systems) technology, and a plurality of micro-mirrors 141, which are a kind of optical element, are formed on a single substrate. It is a two-dimensional image forming apparatus arranged on a matrix. As shown in FIG. 5 , the DMD 14 includes a plurality of micro-mirrors 141 for converting the optical path of the light incident on the DMD 14, and is installed under each of the plurality of micro-mirrors 141 and the micro-mirrors. It is composed of actuators 142 that rotate 141 at a predetermined angle, respectively.

By the arrangement of the plurality of micro-mirrors 141 , a reflective surface for reflecting the light irradiated from the light source unit 131 is formed on the front surface of the DMD 14 . The reflective surface of the DMD 14 is composed of a corresponding number of micro-mirrors 141 according to the resolution. That is, one micromirror 141 corresponds to one pixel of light reflected from the reflective surface. In general, it is preferable that the reflective surface is formed by approximately 10,000 to 1.3 million micromirrors 141 .

The plurality of micro-mirrors 141 are each rotated about a rotation axis by an actuator 142 . Then, the electronic control unit (ECU) 12 individually applies (On) or cuts off (Off) a voltage to the actuator 142 , so that the micromirror 141 rotates, respectively. As a result, the DMD 14 can display various beam patterns and vehicle information (symbols such as a direction signal, a turn signal, an emergency signal, and a vehicle speed) on the road surface by changing the beam pattern.

6 is a schematic diagram illustrating a state in which a voltage is applied (On) or cut off (Off) to the micro-mirror 141 according to an embodiment of the present invention.

According to an embodiment of the present invention, when a voltage is applied (On), as shown in FIG. 6 , the actuator 142 drives the micromirror 141 to rotate by θ° in one direction about the Z axis. . Then, the incident light reflected by the reflector 132 and incident on the micromirror 141 is reflected by the reflective surface and is incident on the lens 133 . According to an embodiment of the present invention, when the voltage is cut off (Off), as shown in FIG. 6 , the actuator 142 drives the micromirror 141 to rotate around the Z axis by θ° in the other direction. . Then, the incident light reflected by the reflector 132 and incident on the micromirror 141 does not enter the lens 133 and becomes invalid light. Accordingly, there is no amount of light irradiated to the outside of the vehicle 3 .

Using this method, when an arrow indicating a direction is displayed on the road surface as shown in FIG. 6 , the black portion is displayed by the micromirror 141 in which the voltage is turned off, and the The bright part is displayed by the micro-mirror 141 to which the voltage is applied (On). However, the present invention is not limited thereto, and the portion indicated in black is displayed by the micromirror 141 to which the voltage is applied (On), and the bright portion around it is displayed by the micromirror 141 in which the voltage is turned off (Off). it could be

7 and 8 are schematic diagrams showing a method of detecting a space in which the vehicle 3 installed with the parking guide device 1 according to an embodiment of the present invention is to be parked.

7 and 8 , when the driver finds a space to park, he/she moves slowly around several vehicles 3 are parked in the parking lot. Also, the manner in which several vehicles 3 are parked may also be parked in a line as shown in FIG. 7 , but may also be parked side by side as shown in FIG. 8 .

As shown in FIG. 7 , first, the distance to the object 2 existing on the front left and right sides of the vehicle 3 is measured in real time with the detection module 11 installed in the vehicle 3 . If the distance L ₄ of a certain area is measured to be longer than the distances L ₁ and L ₂ measured in the surroundings, the vehicle 3 is an empty space between the objects 2 measured by the distances L ₁ and L ₂ . aware that it exists. Then, the length and width of the predetermined region are calculated.

In order to calculate the width of the predetermined area, first, angles obtained by measuring the distances L ₁ and L ₂ are respectively calculated. Using this, the vertical distance from the vehicle 3 and the objects 2 measuring the distances L ₁ , L ₂ and L ₄ is calculated. The vertical distance may be obtained by calculating a cosine value using the distances L ₁ and L ₂ and each of the measured angles. Objects 2 measuring distances L ₁ and L ₂ will have approximately the same vertical distance from vehicle 3 , and objects 2 measuring distance L ₄ will have a vertical distance from vehicle 3 The distances L ₁ and L ₂ will be longer than the measured objects 2 . This vertical distance difference from the vehicle 3 is the width of the constant area.

Meanwhile, the length (L ₃ ) of the predetermined region must also be calculated. To measure the length, the distances L ₁ and L ₂ and the angle between the distances L ₁ and L ₂ are used. If the angle between the distances L ₁ and L ₂ is α, the length L ₃ of the predetermined region is the same as in Equation 1 according to the second cosine law.

If it is determined that the vehicle 3 is an empty space in which to park, the electronic control unit (ECU) 12 applies a light irradiation command signal to irradiate light to the light source unit 131 of the SBL, and the DMD 14 is A drive command signal is applied to drive the actuator 142 to make a special mark on the pattern of light.

As shown in FIG. 8 , even when surrounding vehicles 3 are parked side by side, it is possible to sense a parking space. First, the distance to the object 2 existing on the front left and right sides of the vehicle 3 is measured in real time with the detection module 11 installed in the vehicle 3 . When the distance L ₈ of a certain area is measured to be longer than the distances L ₅ and L ₆ measured in the surroundings, the vehicle 3 is an empty space between the objects 2 measured by the distances L ₅ and L ₆ . aware that it exists. Then, the length and width of the predetermined region are calculated.

In order to calculate the width of the predetermined area, first, angles obtained by measuring the distances L ₅ and L ₆ are respectively calculated. Using this, the vertical distances from the objects 2 and the vehicle 3 for which the distances L ₅ , L ₆ , and L ₈ are measured are calculated. The vertical distance may be obtained by calculating a cosine value using the distances L ₅ and L ₆ and each of the measured angles. Objects 2 measuring distances L ₅ and L ₆ will have approximately similar vertical distances from vehicle 3 , and objects 2 measuring distances L 5 and L 6 will have a vertical distance from vehicle 3 equal to this distance and will be longer than the objects (2) measuring . This vertical distance difference from the vehicle 3 is the width of the constant area.

Meanwhile, the length (L ₇ ) of the predetermined region must also be calculated. To measure the length, the distances L ₅ and L ₆ and the angle between the distances L ₅ and L ₆ are used. If the angle between the distances L ₅ and L ₆ is β, the length L ₇ of the predetermined region is the same as in Equation 2 according to the second law of cosines.

It is calculated that the calculated width of the predetermined region is longer than the overall length of the vehicle 3 , and at the same time the calculated length L ₇ of the predetermined region is the width of the vehicle 3 (the total width of the vehicle 3 and the side If it is calculated to be longer than the sum of the mirror lengths), the recognized empty space is determined as an empty space in which the vehicle 3 can park.

9 is a schematic diagram illustrating a state in which light is irradiated when the parking guide device 1 determines an empty space in which the vehicle 3 can park according to an embodiment of the present invention, and FIG. 10 is an embodiment of the present invention It is a schematic diagram showing a state in which the DMD 14 according to the example receives a driving command signal from the electronic control unit (ECU) 12 .

If it is determined that the vehicle 3 is an empty space in which to park by calculating the length and width of the predetermined area, the electronic control unit (ECU) 12 sends a light irradiation command signal to irradiate light to the light source unit 131 of the SBL. and a driving command signal for driving the actuator 142 to make a special mark on the pattern of light is applied to the DMD 14 . As shown in Fig. 9, in the SBL of the vehicle 3, light is irradiated obliquely with respect to the traveling direction of the vehicle 3, and when the irradiated light is projected on the road surface, the pattern of the arrow is formed by the DMD 14 on the road surface. is displayed in And the direction of the arrow points toward an empty space in which the determined vehicle 3 can park.

As shown in FIG. 10 , when an arrow indicating a direction is displayed on the road surface, the micromirror 141 included in the DMD 14 is also driven to correspond to the pattern of the arrow. According to an embodiment of the present invention, the voltage of the micromirror 141 corresponding to the pattern of the arrow is cut off (Off). Accordingly, the incident light reflected by the reflector 132 and incident on the micromirror 141 does not enter the lens 133 and becomes invalid light. And, according to an embodiment of the present invention, a voltage is applied (On) to the micromirror 141 corresponding to the background except for the pattern of the arrow. Accordingly, the incident light reflected by the reflector 132 and incident on the micromirror 141 is reflected by the reflective surface and is incident on the lens 133 .

11 is a flowchart illustrating a parking guide method according to an embodiment of the present invention.

While the driver is driving the vehicle 3 (S1101), the driving mode is maintained (S1102). However, when it is determined that parking is necessary (S1103), the parking mode is entered (S1104). At this time, in the SBL according to an embodiment of the present invention, when the vehicle 3 is in a general driving mode, as described above, when the vehicle 3 turns left or right at an intersection or a left and right turn road, It automatically irradiates light in the corresponding direction. However, when the vehicle 3 enters the parking mode, it serves to irradiate light toward an empty space for parking. That is, the role of the SBL varies depending on whether the vehicle 3 is in a driving mode or a parking mode. After entering the parking mode, the detection module 11 finds an empty space in which the vehicle 3 can park (S1105). And when an empty space is detected by the detection module 11 ( S1106 ), the electronic control unit (ECU) 12 calculates this and determines whether an empty space is available for parking. When it is determined that the empty space can be parked, the electronic control unit (ECU) 12 applies a command signal to the light source unit 131 and the DMD 14, respectively (S1107). Specifically, a light irradiation command signal is applied to the light source unit 131 to irradiate light, and when the light is projected on the road surface, the DMD 14 receives a driving command signal for driving the actuator 142 to make a special mark on the light pattern. approve The special indication according to an embodiment of the present invention is preferably an arrow.

Those of ordinary skill in the art to which the present invention pertains will understand that the present invention may be embodied in other specific forms without changing the technical spirit or essential features thereof. Therefore, it should be understood that the embodiments described above are illustrative in all respects and not restrictive. The scope of the present invention is indicated by the following claims rather than the above detailed description, and all changes or modifications derived from the meaning and scope of the claims and their equivalent concepts should be interpreted as being included in the scope of the present invention. do.

1: Parking guide device 2: Object
3: Vehicle 11: Detection module
12: electronic control unit (ECU) 13: lamp
14: DMD 111: laser transmitter
112: laser detection unit 113: lens
131: light source 132: reflector
132a: first reflector 132b: second reflector
133: lens 141: micro mirror
142: actuator

Claims (11)

a detection module for detecting a parking space around the vehicle when entering the parking mode;
a lamp for irradiating light toward the parking space when the sensing module detects the parking space;
a mirror member mounted inside the lamp and driven to display the parking space in a portion of the irradiated light;
and a control unit for determining a parking space through the sensing module, applying a driving command signal to the mirror member, and applying a light irradiation command signal to the lamp. According to claim 1,
The lamp is
A parking guide device, which is an SBL that is disposed on the side of the vehicle's headlamp and lights in the direction of rotation when the vehicle is left or right. According to claim 1,
The detection module is
A remote object detection sensor, a parking guide device. 4. The method of claim 3,
The detection module is
A parking guide device, which is a LIDAR that detects objects using a laser. 3. The method of claim 2,
The SBL is
In the case of the driving mode, the vehicle is turned on in the direction of rotation when the vehicle is left or right while driving, and when entering the parking mode, the parking guide device irradiates light toward the parking space. According to claim 1,
Detect two vehicles as referenced by the detection module,
A parking guide device that judges a parking space if it is greater than the time transmitted by the two vehicles. According to claim 1,
The mirror member,
A parking guide device that is driven to indicate the parking space in an arrow shape in a part of the irradiated light. 3. The method of claim 2,
The SBL is
a light source, a lens, and at least one reflector for reflecting light by the light source; and
Comprising an auxiliary reflector for refracting the light reflected by the at least one reflector to the lens,
The auxiliary reflector is
A parking guide device formed from DMD. 5. The method of claim 4,
The control unit is
When the sensing module detects the distance between the objects forming the parking space and the vehicle,
A parking guide device for calculating and determining whether to park in the parking space based on the distances. 9. The method of claim 8,
the reflector
a first reflector disposed above the optical axis of the light source;
and a second reflector disposed below the optical axis of the light source,
The reflected light by the first reflector,
Reflected by DMD,
Part of the light reflected by the DMD is irradiated to the lens, and the other part is reflected in a direction not irradiating the lens, parking guide device. 11. The method of claim 10,
A parking guide device in which the light reflected by the second reflector is directly transmitted to the lens.

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