KR20120094366A - Parking out control system - Google Patents

Abstract

PURPOSE: A vehicle exiting controlling system is provided to safely conveniently exit parked vehicles by regenerating the exiting paths of the vehicles according to the detected results of objects around the vehicle and of the state of the vehicles. CONSTITUTION: A vehicle exiting controlling system includes a exiting vehicle control managing part(210), an object/vehicle detecting part(220), a vehicle exiting path generating part(240), a gear shifting message outputting part(250), a steering command signal outputting part(260), and a vehicle exiting path regeneration controlling part(270). The exiting vehicle control managing part starts the control of exiting vehicles according to a signal for starting the control of the exiting vehicles and terminates the control of the exiting vehicles according to a signal for terminating the control of the exiting vehicles. The object/vehicle detecting part detects objects around the exiting vehicles and the states of the exiting vehicles. The vehicle exiting path generating part generates vehicle exiting paths based on the result of the detection.

Description

PARKING OUT CONTROL SYSTEM

The present invention relates to a parking-related technology, and more particularly, to a parking control system for controlling a vehicle parked in a parking space to be safely and conveniently discharged.

Recently, vehicles are becoming a necessity of modern people, and new vehicles are rapidly released and operated, resulting in various social problems such as traffic jams and parking problems.

In particular, the parking problem is serious, and as the number of vehicles increases in limited regions, cities, and countries, parking spaces are inevitably reduced, and parking is divided so that one vehicle can park to solve the shortage of parking spaces. The compartments are getting narrower.

In addition, even when there are several vehicles parked together in a parking space without a parking compartment, the distance between the vehicles must be narrow.In this case, the driver checks the surrounding obstacles with the naked eye and drives the vehicle directly to park in a narrow parking space or narrow parking. There is a problem that it is difficult to leave a vehicle in space.

Accordingly, in recent years, a technology for automatically parking by checking an image taken around the vehicle in a vehicle equipped with an automatic parking assist system has been developed. This automatic parking assistance system assists parking by automatically steering the vehicle when the vehicle is parked in the parking space.

A general automatic parking assistance system performs an operation of assisting parking of a vehicle but does not provide an operation of leaving a parked vehicle out of a parking space. Accordingly, there is an increasing demand for a control system for leaving a parked vehicle out of a parking space.

In this background, an object of the present invention is to control a vehicle parked in a parking space so that it can be safely and conveniently discharged.

In order to achieve the above object, in one aspect, the present invention, the discharge control is started according to the discharge control start signal input through the discharge mode button, and the discharge control is terminated according to the discharge control end signal A control manager; An object / vehicle detection unit that detects an object in the vicinity of the vehicle and a state of the vehicle and generates a detection result when the exit control is started; A departure route generation unit configured to read the sensing result and generate a departure route for leaving the vehicle without colliding with the object based on the read result; A gear change message output unit configured to output a gear change message for informing a driver of a gear change so that a traveling direction of the vehicle is changed according to the exit route; A steering command signal output unit configured to calculate a steering command signal based on the discharge path and output the calculated steering command signal to a steering device so that the vehicle travels along the discharge path; And reading out the detection result and determining that an error has occurred between the actual position of the vehicle detected during the movement of the vehicle and the reference position according to the discharging route based on the output steering command signal based on the read detection result. Or when the state of the object is changed or when it is determined that a new object has appeared, or when it is determined that there is a possibility of colliding with the object, the exit path for causing the exit path generation unit to regenerate the exit path. And a discharge path regeneration control unit for generating a regeneration command signal and inputting the regeneration command signal to the discharge path generation unit. To provide.

As described above, according to the present invention, there is an effect of controlling the vehicle parked in the parking space to be safely and conveniently discharged.

1 is a view showing a parking control system according to an embodiment of the present invention.
2 is an internal block diagram of a parking control system according to an embodiment of the present invention.
FIG. 3 is a diagram illustrating an environment in which a corresponding vehicle is discharged and controlled in a parking space and a gear change message output when the vehicle is controlled by a parking control system according to an embodiment of the present invention.
FIG. 4 is a diagram exemplarily illustrating detecting a position of a vehicle by calculating a corner point of the vehicle by a parking control system according to an exemplary embodiment of the present invention.

Hereinafter, some embodiments of the present invention will be described in detail with reference to exemplary drawings. In adding reference numerals to the components of each drawing, it should be noted that the same reference numerals are assigned to the same components as much as possible even though they are shown in different drawings. In the following description of the present invention, a detailed description of known functions and configurations incorporated herein will be omitted when it may make the subject matter of the present invention rather unclear.

In addition, in describing the component of this invention, terms, such as 1st, 2nd, A, B, (a), (b), can be used. These terms are intended to distinguish the constituent elements from other constituent elements, and the terms do not limit the nature, order or order of the constituent elements. When a component is described as being "connected", "coupled", or "connected" to another component, the component may be directly connected to or connected to the other component, It should be understood that an element may be "connected," "coupled," or "connected."

1 is a view showing a parking control system 100 according to an embodiment of the present invention.

The departure control system 100 according to an embodiment of the present invention illustrated in FIG. 1 is a system for controlling a vehicle that is parked in a parking space to be safely and conveniently discharged.

The take-out control system 100 may include a take-out mode button 110 operated by a driver for starting (or ending) take-out control, two or more side sensors 120 mounted on the side of the vehicle, and mounted at the front and rear of the vehicle. Two or more front and rear sensors 130, a human machine interface (HMI: 140), which outputs a variety of messages (including gear change messages) related to the exit control, from the exit control system 100 It is connected to the steering device 150 for receiving a steering command signal, the brake device 160 for transmitting a brake signal (Brake Signal) to the parking control system 100 according to the driver's brake operation, and the like, the signals, information, Or send and receive data.

In FIG. 1, the take-out control system 100 pushes the take-out mode button 110, the side sensor 120, the front-rear sensor 130, the HMI 140, the steering device 150, the brake device 160, and the like. Although illustrated as being included, this is merely an example for convenience of description, the exit mode button 110, the side sensor 120, the front and rear sensors 130, HMI 140, steering device 150, brake device 160 ) May be included.

In addition, the exit control system 100 may be implemented as an electronic control unit (ECU).

In addition, the side sensor 120 and / or the front and rear sensors 130 may be an ultrasonic sensor or a radar sensor.

Hereinafter, the parking control system 100 according to an embodiment of the present invention briefly described above will be described in more detail with reference to FIG. 2.

2 is an internal block diagram of a parking control system 100 according to an embodiment of the present invention.

Referring to FIG. 2, the departure control system 100 according to an embodiment of the present invention may include a departure control management unit 210, an object / vehicle detection unit 220, a departure route generation unit 240, and a gear change message output. The unit 250 includes a steering command signal output unit 260, a departure route regeneration control unit 270, and the like.

The take-out control management unit 210 allows the take-out control to be started in accordance with the take-out control start signal input through the take-out mode button 110 and terminates the take-out control according to the take-out control end signal.

The object / vehicle detection unit 220 detects a state of an object (eg, various obstacles such as a vehicle, a curb, a wall, a street light, a roadside tree, a pedestrian, etc.) and a vehicle in the vicinity of the vehicle when the departure control is started. Create In addition, the object / vehicle detection unit 220 continuously detects objects in the vicinity of the vehicle and the state of the vehicle while the vehicle release control is being performed, such that the state (position, speed, etc.) of the object is changed or a new object is changed. If appears, change the existing detection result.

The discharging path generator 240 disengages the vehicle without colliding with an object in the vicinity based on the sensing result read by reading the changed detection result generated or generated in the object / vehicle detecting unit 220. Create In addition, when the departure route regeneration command signal is generated, the departure route generation unit 240 reads the changed detection result generated or generated in the object / vehicle detection unit 220 and generates the departure route based on this.

The gear change message output unit 250 may change the traveling direction of the vehicle according to the departure route generated or re-generated by the departure route generation unit 240, that is, the vehicle in which the vehicle moving forward or the vehicle is moving forward is moved forward. In order to inform the driver of the gear change, a gear change message is output through the HMI 140. When the gear change message is output, sound or vibration may occur.

The steering command signal output unit 260 is a vehicle that is generated or regenerated by the departure route generation unit 240 so that the vehicle travels along the departure route generated or regenerated by the departure route generation unit 240. The steering command signal is calculated based on the path, and the steering command signal thus calculated is output to the steering apparatus 150.

The vehicle departure path regeneration control unit 270 detects a vehicle that is detected during the movement of the vehicle by the output steering command signal based on a detection result generated or read by the object / vehicle detection unit 220 that is generated or changed. If it is determined that an error has occurred between the actual location of the vehicle and the reference location along the departure route (that is, error = | actual location-reference location |), or the state of the object around the vehicle (such as location) is changed or When it is determined that a new object that has not been detected in the detection result has appeared, or when it is determined that there is a possibility of colliding with the object based on the detection result, the departure path generation unit 240 causes the departure path to regenerate the departure path. The route regeneration command signal is generated and input to the exit route generation unit 240.

A more detailed description of the departure route generation / regeneration method is as follows.

The discharging path generation unit 240 calculates a discharging start point and a discharging completion point based on the detection result, and generates a discharging path for moving the vehicle from the calculated discharging start point to the discharging completion point calculated. Here, the generated exit route may include only a forward route or a backward route, or may include one or more forward and backward routes, respectively.

In addition, when the departure route regeneration command signal is input from the departure route regeneration control unit 270, the departure route generation unit 240 reads again the detection result, recalculates the departure start point and the departure completion point, and calculates again. A departure route for moving the vehicle from the departure start point to the departure completion point may be regenerated.

While the vehicle is moving along the exit path generated in this way or the exit path generated again, the exit control manager 210 determines that the actual location of the vehicle and the exit completion point match, based on the detection result, that is, When it is determined that the vehicle is safely discharged from the parking space, the vehicle control may be terminated by generating a vehicle control end signal. In this case, when it is determined that the actual location of the vehicle and the exit completion point coincide, the fact may be notified to the driver through the HMI 140 so that the driver may operate the exit mode button 110 to end the exit control.

On the other hand, as shown in Figure 2, the departure control system 100 according to an embodiment of the present invention, based on the detection result of reading the detection result, the departure from the parking space where the vehicle was parked It is possible to determine whether it is possible, and only when it is determined that it is possible to discharge, it further includes a take-out determination unit 230 for generating a discharge path generation signal for generating a discharge path to input to the discharge path generation unit 240; You may.

In addition, as shown in FIG. 2, when the brake signal is recognized according to a driver's operation, the departure control system 100 according to an embodiment of the present invention causes the departure control management unit 210 to perform the departure control (completely). In order to stop or pause (pause), but to stop the discharge control, further comprises a brake signal recognition unit 280 for causing the exit route regeneration control unit 270 to generate a departure route regeneration command signal; It may be.

3 is a diagram illustrating an environment in which a corresponding vehicle 300 is controlled to be discharged and discharged in a parking space and a gear change message 320 and 330 that are output when the vehicle is controlled by the discharge control system 100 according to an embodiment of the present invention. The figure shown.

Referring to FIG. 3A, a vehicle 300 equipped with a parking control system 100 according to an embodiment of the present invention is disposed between front and rear parking vehicles 301 and 302 with an obstacle 303 beside. In the case of parking in the parking lot control system 100 is operated, based on the detection result through the object / vehicle detection unit 220 calculates the starting point 311 and the exit completion point 312, thus calculated The vehicle 300 is moved to the discharge completion point 312 calculated at the discharge start point 311 to generate a discharge path 310 for discharging the vehicle, and according to the generated discharge path 310, a proper steering command signal is generated. And the vehicle 300 may exit the vehicle along the generated exit path 310.

The departure control system 100 is based on the detection result while the vehicle 300 is moving, the actual position and the departure path of the vehicle 300 detected during the movement of the vehicle 300 by the output steering command signal. Is determined to have an error between the reference position, or when the state of the object (301, 302, or 303) is changed or a new object is determined to appear, or collides with the object (301, 302, or 303) If it is determined that there is a possibility, the exit route 310 may be regenerated.

When the regeneration of the departure route 310 is determined that the vehicle 300 cannot safely exit the departure route 300 generated above, for example, the vehicle along the departure route 300 previously generated ( If it is determined that 300 is not moving correctly, or that it is determined that a collision situation may occur, in this case, since a collision situation is likely to occur, a departure route at that point is used to avoid the collision situation. To regenerate 310.

If it is determined that the vehicle 300 is not moving correctly along the previously generated departure route 300, the actual position and departure of the vehicle 300 detected during the movement of the vehicle 300 by the output steering command signal This is the case where it is determined that an error has occurred between the reference positions along the path 300.

In addition, when it is determined that a collision situation may occur, the detection result of the parking vehicles 301 and 302 is included but does not include the detection result of the obstacle 303 such as a curb, or the curb. When the detection result for the obstacle 303 is included but the detection result for the parking vehicles 301 and 302 is included, but does not include the detection result for the obstacle 303 such as curb, or newly read. There may be a case where the detection result includes a detection result for a new object that was not detected in the detection result used at the time of initial generation.

The departure control system 100 proceeds with the reason that the generated departure route 300 or the departure route generated by changing the departure route 300 includes both the forward route and the backward route, or regenerates the departure route during the movement. If the driving direction of the vehicle 300 needs to be changed from forward to backward or backward to forward due to the reason for changing the direction, etc., the gear change message as shown in FIG. 320 and 330 may be output.

4 is a diagram exemplarily illustrating detecting a position of a vehicle by calculating a corner point of the vehicle by the parking control system 100 according to an exemplary embodiment of the present invention.

Referring to FIG. 4, the surrounding sensor is sensed using the side sensor 120 and / or the front and rear sensors 130. At this time, the distance control is performed by measuring a distance to an object in the vicinity and using the measured distance. The corner point of the vehicle equipped with 100 may be calculated.

In addition, it is possible to detect (calculate) the position (coordinate) of the vehicle using the calculated corner points of the vehicle. The position of the vehicle may be included in the detection result by the object / vehicle detection unit 220, and compared with a reference position according to the discharge route, and determine whether the vehicle is moving correctly along the discharge route according to whether or not an error occurs. It can be used to recreate the route.

As described above, according to the present invention, there is an effect of controlling the vehicle parked in the parking space to be safely and conveniently discharged.

While the present invention has been described in connection with what is presently considered to be the most practical and preferred embodiments, it is to be understood that the invention is not limited to the disclosed embodiments. In other words, within the scope of the present invention, all of the components may be selectively operated in combination with one or more. In addition, although all of the components may be implemented as one independent hardware, some or all of the components may be selectively combined to perform a part or all of the functions in one or a plurality of hardware. As shown in FIG. Codes and code segments constituting the computer program may be easily inferred by those skilled in the art. Such a computer program may be stored in a computer readable storage medium and read and executed by a computer, thereby implementing embodiments of the present invention. As the storage medium of the computer program, a magnetic recording medium, an optical recording medium, a carrier wave medium, or the like may be included.

It is also to be understood that the terms such as " comprises, "" comprising," or "having ", as used herein, mean that a component can be implanted unless specifically stated to the contrary. But should be construed as including other elements. All terms, including technical and scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs, unless otherwise defined. Commonly used terms, such as predefined terms, should be interpreted to be consistent with the contextual meanings of the related art, and are not to be construed as ideal or overly formal, unless expressly defined to the contrary.

The foregoing description is merely illustrative of the technical idea of the present invention, and various changes and modifications may be made by those skilled in the art without departing from the essential characteristics of the present invention. Therefore, the embodiments disclosed in the present invention are intended to illustrate rather than limit the scope of the present invention, and the scope of the technical idea of the present invention is not limited by these embodiments. The protection scope of the present invention should be interpreted by the following claims, and all technical ideas within the equivalent scope should be interpreted as being included in the scope of the present invention.

Claims (5)

A discharge control management unit configured to start the discharge control according to the discharge control start signal input through the discharge mode mode button and to terminate the discharge control according to the discharge control end signal;
An object / vehicle detection unit that detects an object in the vicinity of the vehicle and a state of the vehicle and generates a detection result when the exit control is started;
A departure route generation unit configured to read the sensing result and generate a departure route for leaving the vehicle without colliding with the object based on the read result;
A gear change message output unit configured to output a gear change message for informing a driver of a gear change so that a traveling direction of the vehicle is changed according to the exit route;
A steering command signal output unit configured to calculate a steering command signal based on the discharge path and output the calculated steering command signal to a steering device so that the vehicle travels along the discharge path; And
On the basis of the detection result of reading the detection result, it is determined that an error has occurred between the actual position of the vehicle detected during the movement of the vehicle by the output steering command signal and a reference position according to the departure route. Regenerating a departure route to cause the departure route generation unit to regenerate the departure route when it is determined that the state of the object has changed or a new object has appeared, or that it is likely to collide with the object. And a discharge path regeneration control unit for generating a command signal and inputting the command signal to the discharge path generation unit. The method of claim 1,
The departure route generation unit,
Calculating a discharge start point and a discharge completion point based on the detection result, and generating the discharge path for moving the vehicle from the calculated discharge start point to the calculated discharge completion point;
When the discharge route regeneration command signal is input from the discharge route regeneration control unit, the detection result is read again to recalculate the discharge start point and the discharge completion point, and the calculated recalculation is performed at the recalculated discharge start point. And a regeneration path for the vehicle to move to the exit completion point. The method of claim 2,
The discharge control management unit,
And when the actual position of the vehicle and the exit completion point are determined to coincide, generating the exit control end signal to terminate the exit control. The method of claim 1,
Based on the detected result of reading the detection result, it is determined whether the vehicle can be discharged from the parking space where the vehicle has been parked, and the determination result is generated only when it is determined that the vehicle can be discharged. And a take-out determination unit configured to generate a take-out route generation signal to be input to the take-out route generation unit. The method of claim 1,
When the brake signal is recognized according to a driver's operation, when the release control management unit stops or stops the discharge control, and stops the discharge control, the regeneration path regeneration control unit causes the discharge path regeneration control command to be stopped. A departure control system further comprising a brake signal recognition unit for generating a signal.

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