KR20130021102A - Apparatus and method for controlling parking - Google Patents

Abstract

PURPOSE: A parking control apparatus and a method thereof are provided to simplify a parking route and reduce time to complete parking by enabling a driver find a parking space and approach to a parking space. CONSTITUTION: A parking control apparatus includes at least one lateral sensor, a queue determining unit(220), a parking route generation unit(230), a steering unit, and a parking control unit(200). At least one lateral sensor is installed in the both sides of a vehicle and senses an object located in the both sides of the vehicle when the vehicle proceeds toward a parking space by a driver during a right angle parking. The queue determining unit determines the location and the queue state of the vehicle inside of the parking space by using the result sensed by the lateral sensor. The parking route generation unit generates a parking route so that the vehicle is parked in the parking space according to the location and the queue state of the vehicle determined in the queue determining unit. The steering unit performs a steering control according to the parking route. The parking control unit generates a steering command signal and controls the steering unit according to the parking route. [Reference numerals] (200) Parking control unit; (210) Separation width calculation unit; (220) Queue determining unit; (230) Parking route generation unit

Description

Parking control device and method {APPARATUS AND METHOD FOR CONTROLLING PARKING}

The present invention relates to an automatic parking control technology, and more particularly, by allowing a driver to recognize a parking space and access a parking space, and then generate and provide a parking path, thereby reducing the number of sensors to reduce costs and providing automatic parking. A parking control apparatus and method for reducing the time required.

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 has been developed that is equipped with an automatic parking assistance system in the vehicle, and automatically parking or leaving the vehicle by checking images taken around the vehicle in the automatic parking assistance system. The automatic parking assist system automatically steers the vehicle when the vehicle is parked in the parking space to assist in parking or leaving the vehicle.

The automatic parking assist system scans and recognizes parking spaces using a sensor, and generates a parking route or a departure route for parking or leaving the parking space based on the recognized parking space.

However, in the case of automatically controlling the process from the process of recognizing the parking space to the completion of the parking, a parking path including a plurality of turning paths is generated at least once until the parking is completed. When the vehicle moves along the parking path and the target parking position and error occur, the parking path must be reset to compensate for this, and the number of turning paths of the vehicle generally increases.

Therefore, in the conventional automatic parking assistance system, since a plurality of front and rear sensors and side sensors are installed to recognize the parking space, the cost increases. In addition, there is a problem in that it takes a long time to complete parking because the vehicle is moved forward and backward along a plurality of turning paths in order to accurately park the vehicle in the parking space.

In this context, an object of the present invention is to provide a parking control system and method which can reduce the number of sensors and shorten the time to completion of parking.

In order to achieve the above object, in one aspect, the present invention, is installed on both sides of the vehicle, at least one for detecting the objects located on both sides of the vehicle when the vehicle proceeds toward the parking space by the driver at right angles parking Side sensor; An alignment determination unit configured to determine a position and an alignment state in the parking space of the vehicle by using the result detected by the side sensor; A parking path generation unit generating a parking path so that the vehicle is parked in the parking space according to the position and alignment state of the vehicle determined by the alignment determination unit; A steering device that performs steering control according to the parking path; And a parking controller configured to control a steering device by generating a steering command signal according to the parking path.

In another aspect, the present invention, when the vehicle is parked by the driver toward the parking space at the right angle parking step for detecting the objects located on both sides of the vehicle; Determining an alignment state of the parking space of the vehicle using the detected result; Generating a parking path such that the vehicle is parked in the parking space according to the alignment state of the vehicle; And controlling steering of the vehicle by generating a steering command signal according to the parking path.

As described above, according to the present invention, the parking control system can grasp the parking space with only two sensors, thereby significantly reducing the cost. In addition, by allowing the driver to grasp the parking space and approach the parking space, the parking path can be simplified and the time for the parking to be completed can be reduced, thereby enhancing the convenience and satisfaction of the user.

1 is a block diagram of a vehicle control system including a parking control system according to the present invention;
2 is a block diagram of a parking control system according to an embodiment of the present invention;
3 is a view showing a process of parking by the parking control system of the present invention,
4 is a flowchart illustrating a process of controlling semi-automatic parking in a parking control system according to an 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 block diagram of a vehicle control system including a parking control system according to the present invention.

The vehicle control system includes a parking control system 100 for controlling a vehicle to be parked quickly and safely in a parking space at a right angle parking, first and second side sensors 120 and 130 mounted at both sides of the vehicle, and a first And a detection start button 105 operated by the driver to start the operation of the second side sensors 120 and 130, a parking mode button 110 operated by the driver to start or end parking control, and a wheel to detect the speed of the vehicle. Human Machine Interface (HMI), which outputs the speed sensor 140, the gear position sensor 150 for detecting a gear state, and various messages related to parking control (including gear change messages and parking stop messages). 160, a steering device 180 that receives a steering command signal from the parking control system 100, and a brake that transmits a brake signal to the parking control system 100 according to a driver's brake operation. And a microphone device 170.

Here, the parking control system 100, the parking mode button 110, the first and second side sensors 120 and 130, the wheel speed sensor 140, the gear position sensor 150, HMI 160, steering device ( 180, the brake device 170, and the like, exchange signals, information, or data necessary for parking control.

In FIG. 1, the parking control system 100 includes a detection start button 105, a parking mode button 110, first and second side sensors 120 and 130, a wheel speed sensor 140, and a gear position sensor 150. Although not shown, the HMI 160, the steering device 180, the brake device 170, etc., but this is just an example for convenience of description, the parking control system 100 is a detection start button 105, Among the parking mode button 110, the first and second side sensors 120 and 130, the wheel speed sensor 140, the gear position sensor 150, the HMI 160, the steering device 180, the brake device 170, and the like. It may also include one or more.

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

The first and second side sensors 120 and 130 generate a detection result for objects on the left and right sides of the vehicle when parking control is started and the driver moves backward toward the parking space, and parks the generated detection result. Provided to the control system 100.

At this time, the side sensor 130 continuously generates a detection signal for the object on the left and right of the vehicle at a predetermined time interval while the vehicle is reversed to provide to the parking control system 100. Accordingly, the parking control system 100 calculates the separation width with respect to the objects on the left and / or right side of the vehicle and the amount of change thereof so that the position and the degree of inclination in the parking space of the vehicle can be measured.

The side sensor 130 may be an ultrasonic sensor or a radar sensor.

The wheel speed sensor 140 outputs a pulse signal corresponding to the change in the magnetic field between the rotor and the pole piece rotating together with the wheel. A tooth-shaped tooth is formed on the outer circumferential surface of the rotor, and the magnetic field between the tooth and the pole piece changes when the rotor is rotated. Therefore, the number of pulses according to one rotation of the wheel is constant, and the separation width calculation unit 210 may calculate the moving distance of the vehicle according to the number of pulses.

The gear position sensor 150 outputs a gear position signal corresponding to the position of the current gear.

The steering apparatus 180 may include a steering angle sensor that detects a rotation angle of the steering wheel and outputs a rotation information signal. In an embodiment of the present invention, the steering angle sensor 190 may be a torque sensor. The torsion bar is twisted by the relative rotation of the input shaft and the output shaft connected to the steering wheel, and the torque sensor is located between the input shaft and the output shaft to detect the amount of torsion of the torsion bar and output the rotation information signal.

The parking control system 100 determines the position of the parking space of the vehicle and sets the parking path of the vehicle once the driver reverses the vehicle into the parking space at the right angle parking.

Hereinafter, a 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.

The parking control system 100 includes a separation width calculation unit 210, an alignment determination unit 220, a parking path generation unit 230, and a parking control unit 200.

The separation width calculation unit 210 calculates a distance from an object sensed by the first and second side sensors 120 and 130 installed at both sides of the vehicle. At this time, the separation width calculation unit 210, the distance between the object detected from the first side sensor 120 and the distance detected from the second side sensor 130 when the vehicle is located at the first point. Calculate once. Then, the separation width calculation unit 210, when the vehicle is located at the second point, the distance between the object detected from the first side sensor 120 and the object detected from the second side sensor 130. Calculate the distance once.

Here, the first point and the second point are not preset points, but are points at which an object is detected by at least one of the first side sensor 120 and the second side sensor 130 while the vehicle moves backward. In this case, the first point and the second point are selected when the detection of the object continues after the object is detected, and means two points among a plurality of points or continuous points detected until the reverse of the vehicle is stopped by the driver. .

That is, when the vehicle reverses, as shown in FIG. 3 (c), when the object is detected by both the first and second side sensors 120 and 130 at the 'A' point, and continuously detected until the 'B' point, The separation width calculation unit 210 may select any two points including the 'A' point and the 'B' point between the 'A' point and the 'B' point as the first point and the second point.

When the side sensor 130 is an ultrasonic sensor, the separation width calculation unit 210 calculates a distance from the object using the speed of the ultrasonic waves. That is, the separation width calculation unit 210 may compare the ultrasonic wave generation signal and the reflected signal to calculate a distance from an object existing in front, rear, or side surfaces of the vehicle.

When the side sensor 130 is a radar sensor, the separation width calculation unit 210 may calculate a distance to an object existing in front and rear or side surfaces of the vehicle by using a pulse method, a modulation method, an interferometer method, and the like. In the case of using the pulse method, the separation width calculation unit 210 may calculate the distance from the time when the light pulse reciprocates between the vehicle and the object.

The alignment determination unit 220 may include a distance between an object detected by the first side sensor 120 and an amount of change between the first point and the second point as the vehicle progresses, and an object detected by the second side sensor 130. The distance and the amount of change between the first point and the second point can be interpreted based on the traveling speed of the vehicle to determine the position and inclination of the parking space of the vehicle.

The alignment determination unit 220 determines the position and the inclination of the vehicle with respect to the parking space by using an estimation algorithm that analyzes the change in the separation width between the first point and the second point based on the traveling speed of the vehicle. can do.

For example, a distance from an object detected by the first side sensor 120 is 60 cm and a distance from an object detected by the second side sensor 130 is 40 cm at a first point, and the first point at a second point. Assume that the distance from the object sensed by the side sensor 120 is 50 cm and the distance from the object detected by the second side sensor 130 is 50 cm. Then, it can be seen that the vehicle is moving toward the object detected by the first side sensor 120.

In this case, the faster the speed of the vehicle is, the smaller the degree of inclination of the vehicle with respect to the parking space is. The slower the speed of the vehicle is, the greater the degree of inclination of the vehicle with respect to the parking space is. Using this, the estimation of the degree of inclination of the vehicle can be any number.

On the other hand, the alignment determination unit 220, when an object is detected only from one side of the first side sensor 120 and the second side sensor 130, that is, the other vehicle is parked only on one side of the parking space where the vehicle will park In this case, it is possible to determine the position and inclination of the parking space of the vehicle by analyzing the separation width of the object sensed by the corresponding side sensor and the amount of change between the first and second points based on the traveling speed of the vehicle. have.

The parking path generation unit 230 parks the vehicle by using the separation width of the vehicle and the object calculated by the separation width calculation unit 210 and the degree of inclination of the vehicle with respect to the parking space determined by the alignment determination unit 220. The space is identified to calculate the parking start point, which is the current position of the vehicle, and the parking completion point, which is the position where the parking of the vehicle is completed. Then, the parking path generation unit 230 generates a parking path connecting the parking start point and the parking completion point. The parking path may be formed of one or more turning paths according to the parking start point, the parking completion point, and the width of the parking space.

When the parking path is generated in this way, the parking path generation unit 230 generates the parking path in different ways for each case where other vehicles are parked on both sides of the vehicle and when another vehicle is parked on one side of the vehicle. Create

First, when objects are detected on both sides of the vehicle, that is, when there are objects on both sides of the parking space, the parking path generator 230 may park the vehicle at the same interval as the objects detected from both sides of the vehicle. You can create a parking route. That is, if the width of the parking space excluding the vehicle is 1m, the parking path is generated such that the vehicle is parked with a 50cm separation width on the right and left sides of the vehicle, respectively.

On the other hand, when an object is detected only on one side of the vehicle, that is, when the vehicle exists only on one side of the parking space, the parking path generator 230 may set the parking path such that the distance between the object and the vehicle is a predetermined distance. Can be generated. For example, the parking path generator 230 may generate the parking path such that the distance between the object and the vehicle is 50 cm. Of course, the distance between the object and the vehicle can be set differently depending on the type of the vehicle, the size of the parking space, and the like.

When the driver presses the detection start button 105, the parking controller 200 provides the sensing results from the first and second side sensors 120 and 130 to the separation width calculator 210, and the separation width calculator 210. The first and second side sensors 120 and 130 control to calculate the separation distance between the object and the vehicle at each point where the object is detected.

When the driver presses the parking mode button 110, the parking control unit 200 provides the alignment determination unit 220 with information about the separation width at each point, and the alignment determination unit 220 enters the parking space of the vehicle. To determine the degree of inclination.

In addition, the parking control unit 200 transmits the separation width calculated by the separation width calculation unit 210 and the degree of inclination of the vehicle determined by the alignment determination unit 220 to the parking path generation unit 230, and parks the vehicle. The path generation unit 230 controls to generate a parking path.

When the parking path is generated in this way, the parking controller 200 generates a steering command signal according to the parking path and transmits the steering command signal to the steering device.

4 is a flowchart illustrating a process of controlling semi-automatic parking in a parking control system according to an embodiment of the present invention.

While the driver is traveling around the parking space as shown in FIG. 3 (a), the driver finds the parking space and advances the vehicle at an angle forward for oblique perpendicular parking as shown in FIG. 3 (b). Then, when the driver selects the start detection button 105 (S400), and as shown in Figure 3 (c), back toward the parking space, the parking control unit 200 is the first and second side sensors ( Start receiving input of the detection result of the detected object from 120 and 130 (S410).

When the vehicle reaches the point 'A', as shown in FIG. 3 (c), the parking control unit 200 receives the detection result of the object from the first and second side sensors 120 and 130, and calculates the separation width. Provided by 210. Then, the parking controller 200 continuously receives the detection result of the object from the first and second side sensors 120 and 130 until the vehicle reaches the point 'B' and provides it to the separation width calculator 210.

Here, the 'B' point is the point where the driver stopped the vehicle. At this time, the driver may stop the vehicle by receiving a message that the vehicle is in danger of colliding with an object through the HMI 160, or the driver may stop the vehicle arbitrarily. .

Once the vehicle is stopped, the parking control unit 200 displays a message indicating that the position of the vehicle is detected through the HMI 160, and when the driver selects the parking mode button 110 (S420), the gap width calculating unit 210 is displayed. ). Then, the separation width calculation unit 210 calculates the separation width between the object and the vehicle detected by the first and second side sensors 120 and 130 at a plurality of points between the point 'A' and the 'B' (S430). ).

The distance between the object and the vehicle at each point calculated by the separation width calculation unit 210 is provided to the alignment determination unit 220. The alignment determination unit 220 may use the distance between the object provided from the separation unit calculating unit 210 and the vehicle to change the separation width at two points detected by the first side sensor 120, and the second side sensor ( In step 130, the change in the separation width at the two points is calculated.

In addition, the alignment determination unit 220 receives the speed of the vehicle from the wheel speed sensor 140 and analyzes the variation of the separation width at two points using an estimation algorithm based on the speed of the vehicle. The degree of inclination of the parking space may be determined (S440). When the alignment determination unit 220 determines the position of the vehicle and the degree of inclination with respect to the parking space, the determination result is transmitted to the parking path generation unit 230.

The parking path generation unit 230 calculates a parking start point and a parking completion point by using the position of the vehicle and the degree of inclination of the parking space determined by the alignment determination unit 220. Then, the parking path generation unit 230 generates a parking path connecting the parking start point and the parking completion point and transmits it to the parking control unit 200 (S460).

When the parking path is generated, the parking control unit 200 generates a steering command signal corresponding to the parking path, and transmits the generated steering command signal to the steering device 180 so that the vehicle travels along the parking path.

As described above, in the parking control system 100, the driver grasps the parking space and moves backwards or forwards toward the parking space. When an object is detected from the first and second side sensors 120 and 130, The parking path is generated by estimating the position of the vehicle and the degree of inclination of the parking space. Accordingly, the parking control system 100 can grasp the parking space by using only two sensors, thereby reducing the number of sensors and significantly reducing the cost. In addition, by allowing the driver to grasp the parking space and approach the parking space, the parking path can be simplified and the time for the parking to be completed can be reduced, thereby enhancing user convenience and satisfaction.

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 a storage medium of the computer program, a magnetic recording medium, an optical recording medium, or the like can 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 (9)

At least one side sensor installed at both sides of the vehicle and detecting an object located at both sides of the vehicle when the vehicle moves toward the parking space by the driver during the perpendicular parking;
An alignment determination unit configured to determine a position and an alignment state in the parking space of the vehicle by using the result detected by the side sensor;
A parking path generation unit generating a parking path so that the vehicle is parked in the parking space according to the position and the alignment state of the vehicle determined by the alignment determination unit;
A steering device that performs steering control according to the parking path; And
And a parking controller configured to control the steering apparatus by generating a steering command signal according to the parking path. The method of claim 1,
And a separation width calculating unit configured to calculate a separation width between the object sensed by the side sensor and the vehicle and provide the separation determination unit to the alignment determination unit. The method of claim 2,
The alignment determination unit may be configured based on a speed of the vehicle based on a change width of the separation width of the vehicle and a distance that is changed while the vehicle is driven, while the separation width of the vehicle is calculated by the separation width calculator. Parking control system for analyzing the position and inclination of the parking space of the vehicle. The method of claim 3, wherein
The parking path generation unit, when the objects are detected on both sides of the vehicle, the parking control system for generating a parking path so that the vehicle is parked in the parking space with the same distance between the respective objects and the vehicle. The method of claim 3, wherein
The parking path generation unit, when the object is detected only on one side of the vehicle, the parking control system for generating a parking path so that the vehicle is parked spaced apart from the object by a predetermined distance. Detecting objects located at both sides of the vehicle when the vehicle moves toward the parking space by the driver during the perpendicular parking;
Determining an alignment state of the parking space of the vehicle using the detected result;
Generating a parking path such that the vehicle is parked in the parking space according to the alignment state of the vehicle; And
And controlling the operation of the vehicle by generating a steering command signal according to the parking path. The method according to claim 6,
Determining the alignment of the vehicle,
Calculating a separation width with objects located at both sides of the vehicle;
Calculating a change amount of the separation width that changes according to the running of the vehicle;
And determining the position and inclination of the vehicle with respect to the parking space compared to the speed of the vehicle. The method of claim 7, wherein
Generating the parking path,
And when the objects are detected at both sides of the vehicle, generating a parking path such that the vehicle is parked in the parking space with the same distance between the respective objects and the vehicle. The method of claim 7, wherein
Generating the parking path,
And generating a parking path such that the vehicle is parked spaced apart from the object by a predetermined distance when an object is detected only on one side of the vehicle.

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