KR20200052998A - Apparatus for controlling a parking of vehicle, system having the same and method thereof - Google Patents

Abstract

The present invention relates to a vehicle parking control device, a system including the same, and a method thereof. The vehicle parking control device according to an embodiment of the present invention can include: a processor that keeps parking space information about a target parking space even if an automatic parking control mode is turned off by a user′s direct driving intention according to the presence of a rear vehicle after finding the target parking space in the automatic parking control mode, and performs control to continuously perform the automatic parking control using the parking space information when the automatic parking control mode is turned on; and a storage unit that stores the parking space information.

Description

Apparatus for controlling a parking of vehicle, system having the same and method thereof

The present invention relates to a vehicle parking control device, a system including the same, and a method thereof, and more particularly, to a parking control technology in consideration of a subsequent vehicle following the parking control.

 When driving to park in a large parking facility such as a parking lot for a large mart or a parking lot for an apartment complex, there may be a case where another vehicle is attached to the rear of the car. In such a situation, it is common for users to park their vehicles once again by putting their vehicle close to the parking space to stop the vehicle.

However, in the case of the existing automatic parking control (RSPA: Remote Smart Parking Assist) technology, once the parking space is searched and the parking control is started, the vehicle may be retracted without considering the rear vehicle, and parking may be started, causing inconvenience of the rear vehicle.

In addition, the existing automatic parking control technology automatically releases the automatic parking control mode when the parking space is searched and the driver travels backward to light the road to the rear vehicle. As the space needs to be searched again, there is a problem in that it is inconvenient to use the automatic parking control function.

An embodiment of the present invention is a vehicle capable of performing automatic parking control by generating a new route at the location when a user is notified of a follow-up vehicle following parking control, and a new route is generated at the location when a user is notified of a follow-up vehicle and driving on a path that sways the road to the subsequent vehicle. It is intended to provide a parking control device, a system including the same, and a method thereof.

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

The vehicle parking control device according to an embodiment of the present invention, after discovering the target parking space in the automatic parking control mode, even if the automatic parking control mode is turned off by the user's direct driving intention according to the presence of the rear vehicle, the target parking space A processor that maintains parking space information for and controls the automatic parking control to continue using the parking space information when the automatic parking control mode is turned on; And a storage unit that stores the parking space information.

In one embodiment, the parking space information includes at least one of information of a target parking space, a parking control reference point that is a reference point for performing parking control, and a parking target point in a target parking space that a rear wheel of a vehicle must reach for parking. It may include the above.

In one embodiment, if the rear vehicle does not exist, the processor determines whether the user has a direct driving intention, and if the user has a direct driving intention, deletes the parking space information and controls the automatic parking It may include turning off the mode.

In one embodiment, if the rear vehicle does not exist, the processor determines whether the user has a direct driving intention, and if the user does not have a direct driving intention, automatically controls the parking based on the parking space information. It may include performing.

In one embodiment, when the rear vehicle is present and the user intends to drive directly, the processor stores the parking space information, and after the vehicle moves and stops by the user's direct driving, the automatic When the parking control mode is turned on, automatic parking control may be performed by generating a parking path from the position where the vehicle is stopped to the target parking space.

In one embodiment, the processor may include estimating a vehicle position when the vehicle moves and stops based on sensing results received from at least one of a wheel speed sensor, a steering angle sensor, and an ultrasonic sensor.

In one embodiment, the processor includes, based on the parking space information, calculating a shift reference point, and generating a parking path candidate group from the shift reference point to a parking target point that is a point that a rear wheel center of the vehicle should reach. can do.

In one embodiment, the processor calculates at least one shift reference point according to a distance from the center of the rear wheel of the vehicle to an extension line of the parking control reference point among the parking space information, and at least one according to the at least one shift reference point It may include generating the above parking path.

In one embodiment, the processor generates a forward path reaching each of the at least one shift reference point at a position where the vehicle is stopped, and shifts by generating a backward path from the at least one shift reference point to a parking target point. Each reference point may include generating a parking path including the forward path and the backward path.

In one embodiment, the processor may include selecting the parking path having the shortest length among the at least one parking path and performing the automatic parking control.

The vehicle system according to the embodiment of the present invention, after discovering the target parking space in the automatic parking control mode, is in the target parking space even if the automatic parking control mode is turned off by the user's direct driving intention according to the presence of the rear vehicle. A vehicle parking control device that controls to continue to perform automatic parking control using the parking space information when the automatic parking control mode is turned on after storing the parking space information for the vehicle; And a sensor module that detects the rear vehicle and detects the current position of the vehicle and provides it to the vehicle parking control device.

A vehicle parking control method according to an embodiment of the present invention includes: searching a parking space in an automatic parking control mode; Determining whether a rear vehicle exists if a target parking space is found through the parking space search; And even if the automatic parking control mode is turned off by the user's direct driving intention according to the presence of the rear vehicle, after storing the parking space information for the target parking space, when the automatic parking control mode is turned on, the parking space information is displayed. It may include; using the step of controlling to continue to perform automatic parking control.

In one embodiment, the parking space information may include at least one of a target parking space, a parking control reference point, and a parking target point.

In one embodiment, the step of controlling to continue to perform the automatic parking control, if the rear vehicle is present, determining whether the user intends to drive directly; When the user intends to drive directly, turning off the automatic parking control mode and storing the parking space information; Generating a parking path candidate group from the location where the vehicle is stopped to the target parking space based on the parking space information when the automatic parking control mode is turned on after the vehicle moves and stops by the direct driving of the user. ; And performing automatic parking control based on a parking path selected from the candidate parking path groups.

In one embodiment, the step of generating the candidate parking path group calculates a shift reference point, which is a point at which the vehicle is shifted, based on a parking reference control point among the parking space information, and the vehicle's rear wheel center reaches the shift reference point And generating a candidate parking path to a parking target point, which is a point to be performed.

In one embodiment, the step of generating the parking path candidate group calculates at least one shift reference point according to a distance from the center of the rear wheel of the vehicle to an extension line of the parking control reference point among the parking space information, and the at least one shift And generating at least one parking path according to the reference point.

In one embodiment, the step of generating the parking path candidate group generates a forward path reaching each of the at least one shift reference point at a position where the vehicle is stopped, and from the at least one shift reference point to a parking target point Generating a reverse path may include generating a parking path including the forward path and the reverse path for each shift reference point.

In one embodiment, the generating of the parking path candidate group may include selecting the parking path having the shortest length among the at least one parking path to perform the automatic parking control.

In one embodiment, the step of controlling to continue to perform the automatic parking control, if the rear vehicle does not exist, the user intends to drive directly, delete the parking space information and turn off the automatic parking control mode It may include.

In one embodiment, the step of controlling to continue to perform the automatic parking control, if the rear vehicle does not exist and the user does not intend to drive directly, performing the automatic parking control based on the parking space information It may include.

This technology notifies the user when there is a follow-up vehicle that follows the parking control, drives the follow-up vehicle to the path, and then creates a new path at that location so that the user can continue to perform automatic parking control. It can increase the convenience.

In addition, various effects that can be directly or indirectly identified through this document may be provided.

1 is a block diagram showing the configuration of a vehicle system including a vehicle parking control apparatus according to an embodiment of the present invention.
2 is a view for explaining an exemplary operation of the vehicle parking control apparatus according to an embodiment of the present invention.
3 is a view for explaining a method of generating a parking path of a vehicle parking control apparatus according to an embodiment of the present invention.
4 is a view for explaining a method of generating a parking trajectory of a vehicle parking control apparatus according to an embodiment of the present invention.
5 is a view for explaining a method for selecting a candidate parking trajectory of a vehicle parking control apparatus according to an embodiment of the present invention.
6 is a flowchart illustrating a vehicle parking control method according to an embodiment of the present invention.
7 illustrates a computing system according to an embodiment of the present invention.

Hereinafter, some embodiments of the present invention will be described in detail through exemplary drawings. It should be noted that in adding reference numerals to the components of each drawing, the same components have the same reference numerals as possible even though they are displayed on different drawings. In addition, in describing the embodiments of the present invention, when it is determined that detailed descriptions of related well-known configurations or functions interfere with the understanding of the embodiments of the present invention, detailed descriptions thereof will be omitted.

In describing the components of the embodiments of the present invention, terms such as first, second, A, B, (a), and (b) may be used. These terms are only for distinguishing the component from other components, and the nature, order, or order of the component is not limited by the term. In addition, unless defined otherwise, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by a person skilled in the art to which the present invention pertains. Terms such as those defined in a commonly used dictionary should be interpreted as having meanings consistent with meanings in the context of related technologies, and should not be interpreted as ideal or excessively formal meanings unless explicitly defined in the present application. Does not.

The present invention is a technology that allows the automatic parking control mode to continuously perform automatic parking control after recognizing a vehicle following the trail in the automatic parking control mode and keeping the parking space information in a state where the road is turned off, and remote smart parking assistance (RSPA: Remote Smart) Parking Assist) technology.

Hereinafter, embodiments of the present invention will be described in detail with reference to FIGS. 1 to 7.

1 is a block diagram showing the configuration of a vehicle system including a vehicle parking control apparatus according to an embodiment of the present invention. A vehicle system including the vehicle parking control device 100 of FIG. 1 may be mounted on a vehicle.

Referring to FIG. 1, a vehicle system according to an embodiment of the present invention includes a vehicle parking control device 100, a sensor module 210, a parking assist button 220, a warning device 230, and a steering device 240, It may include a braking device 250, a driving device 260, and a transmission 270.

The vehicle parking control device 100 detects a target parking space in the automatic parking control mode, determines whether a rear vehicle is present, and automatically parks the vehicle when the rear vehicle exists, by generating a user's direct driving intention to avoid the road. Even if the control mode is turned off and the automatic parking control mode is turned off, when the automatic parking control mode is turned on again after storing the parking space information for the target parking space, the automatic parking control is continued using the stored parking space information. can do.

The vehicle parking control device 100 may include a communication unit 110, a storage unit 120, a display unit 130, and a processor 140.

The communication unit 110 is a hardware device implemented with various electronic circuits to transmit and receive signals through a wireless or wired connection. In the present invention, communication in a vehicle is performed through can communication, LIN communication, and the like. And perform communication with the sensor module 210, parking assist button 220, warning device 230, steering device 240, braking device 250, drive device 260, and transmission 270. Can be.

The storage unit 120 may store sensing results of the sensor module 200 and parking space information obtained by the processor 140, automatic parking path information, and the like. The storage unit 120 includes a flash memory type, a hard disk type, a micro type, and a card type (for example, an SD card (Secure Digital Card) or an XD card (eXtream Digital). Card)), RAM, Random Access Memory (RAM), Static RAM (SRAM), Read-Only Memory (ROM), Programmable ROM (PROM), Electrically Erasable PROM (EEPROM), Magnetic Memory (MRAM) , Magnetic RAM), a magnetic disk, and an optical disk type of memory, a storage medium of at least one type.

In the automatic parking control mode, the display unit 130 may display an image displaying a parking space, a parking target point, a parking control reference point, an image of a surrounding vehicle, an image of a rear vehicle, an image of a host vehicle, an automatic parking path, and the like. The display unit 130 may be implemented as a head-up display (HUD), a cluster, or audio video navigation (AVN). In addition, through the user setting menu (USM) of the cluster, you can receive color input directly from the user. In addition, the display unit 130 includes a liquid crystal display (LCD), a thin film transistor liquid crystal display (TFT LCD, thin film transistor-LCD), a light emitting diode (LED), and an organic light emitting diode (OLED). ), An active OLED (AMOLED, Active Matrix OLED), a flexible display (flexible display), a bend display (bended display), and may include at least one of a three-dimensional display (3D display). Some of these displays may be implemented as a transparent display composed of a transparent type or a light transparent type so that the outside can be viewed. In addition, the display unit 130 is provided as a touch screen including a touch panel and may be used as an input device in addition to an output device.

The processor 140 may be electrically connected to the communication unit 110, the storage unit 120, the display unit 130, and the like, and may electrically control each component, and may be an electrical circuit that executes software commands. Accordingly, various data processing and calculations described later can be performed.

When the target parking space is found in the automatic parking control mode, the processor 140 determines whether a rear vehicle is present, and if the rear vehicle is present, the automatic parking control mode is generated by a user's direct driving intention to avoid the road. Even if the automatic parking control mode is turned off and the automatic parking control mode is turned on again after storing the parking space information for the target parking space, the automatic parking control may be controlled to continue using the stored parking space information. . At this time, the parking space information may include at least one of the target parking space information, a parking control reference point that is a reference point for performing parking control, and a parking target point in the target parking space that the rear wheel of the vehicle must reach for parking. have.

The processor 140 may include determining whether there is a user's direct driving intention when a rear vehicle does not exist, deleting parking space information and turning off the automatic parking control mode when the user has a direct driving intention.

The processor 140 may include determining whether there is a user direct driving intention when a rear vehicle does not exist, and performing automatic parking control based on parking space information when there is no user direct driving intention.

When the rear vehicle exists and the user intends to drive directly, the processor 140 stores the parking space information, and after the vehicle moves and stops by the user's direct driving, when the automatic parking control mode is turned on, the vehicle stops Automatic parking control can be performed by generating a parking path from a location to a target parking space.

The processor 140 may estimate the vehicle position when the vehicle stops by moving the vehicle based on sensing results received from at least one of a wheel speed sensor, a steering angle sensor, and an ultrasonic sensor.

The processor 140 may calculate a shift reference point based on the parking space information, and generate a parking path candidate group from the shift reference point to a parking target point, which is a point that the rear wheel center of the vehicle should reach.

The processor 140 may calculate at least one shift reference point according to a distance from the center of the rear wheel of the vehicle to an extension line of the parking control reference point among parking space information, and generate at least one parking path according to the at least one shift reference point have. That is, the processor 140 generates a forward path reaching each of the at least one shift reference point at a position where the vehicle is stopped, and generates a backward path from the at least one shift reference point to the parking target point to advance and reverse paths for each shift reference point. It is possible to create a parking path including.

The processor 140 may perform automatic parking control by selecting a parking path having the shortest length among at least one parking path.

The sensor module 210 may be provided with a plurality of sensors to detect objects outside the vehicle, the position of the external object, the speed of the external object, the direction of movement of the external object and / or the type of the external object (eg, vehicle, pedestrian , Bicycle or motorcycle, etc.). To this end, the sensor module 200 may include an ultrasonic sensor, a radar, a camera, a laser scanner and / or a corner radar, a lidar, an acceleration sensor, a yaw rate sensor, a torque measurement sensor and / or a wheel speed sensor, a steering angle sensor, etc. Can be. In the present invention, a parking space can be searched using an ultrasonic sensor, a presence or absence of a rear vehicle can be determined using a camera, and a vehicle for generating a parking path using a wheel speed sensor, steering angle sensor, ultrasonic sensor, etc. Can estimate the current location of In addition, through the sensor module 210, information such as a location of a target parking space, a size of the target parking space, a location of a parking control reference point that is a reference point for performing parking control, and a parking target point can be obtained.

When the parking assistance button 220 is pressed, touched, or clicked by a user, an automatic parking control command signal is transmitted to the vehicle parking control device 100. At this time, the parking assistance button 220 may include an RSPA button.

The warning device 230 may be controlled by the vehicle parking control device 100 to perform warnings such as the presence of a subsequent vehicle and notification of a collision risk situation with the subsequent vehicle. The warning device 230 may be configured to perform visual, auditory, and tactile warnings, and may be implemented as a head-up display (HUD), a cluster, or audio video navigation (AVN).

The steering device 240 is controlled by the vehicle parking control device 100, may be configured to control the steering angle of the vehicle, and may include a steering wheel, an actuator associated with the steering wheel, and a controller that controls the actuator.

The braking device 250 is controlled by the vehicle parking control device 100 and may be configured to control braking of the vehicle, and may include a controller that controls the brake.

The driving device 260 is controlled by the vehicle parking control device 100 and may be configured to control engine driving of the vehicle, and may include a controller that controls the speed of the vehicle.

The shifting device 270 is controlled by the vehicle parking control device 100 and may be configured to control shifting of the vehicle, and may include a controller that controls gears, clutches, and the like.

In the present invention having such a configuration, when there is a rear vehicle that follows the host vehicle from the rear when searching for a parking space in the parking lot, the vehicle is moved closer to the parking space by the user in order to clear the road to the rear vehicle, thereby automatically controlling the parking. Even if the mode is released, the parking space information (parking control reference point, etc.) obtained when searching for a parking space is stored without deletion, and when the vehicle is moved closer to the parking space and the automatic parking control mode is turned on again at the stopped point, it is saved. By using the parking space information to generate and provide a parking path from a stopped point to a target parking space, user convenience can be increased.

2 is a view for explaining an exemplary operation of the vehicle parking control apparatus according to an embodiment of the present invention.

Referring to 210 of FIG. 2, the vehicle parking control device 100 of the vehicle 202 entering the parking lot enters the automatic parking control mode to search for a parking space, and when the target parking space 203 is found, the corresponding target parking space I want to park at 203. At this time, when the rear vehicle 201 approaching the same direction as the vehicle 202 is present at the rear of the vehicle 202, the vehicle 202 must avoid the road so that the rear vehicle 201 can pass. In order to avoid the way, when the user inserts the reverse gear (R shift) and performs direct reverse control, the vehicle parking control device 100 determines that the user intends to drive directly and releases the automatic parking control mode. Accordingly, the vehicle parking control device 100 seeks to solve the inconvenience of having to perform the parking control after the user searches the parking space by turning the automatic parking control mode back on after the rear vehicle 201 passes. When the R shift is performed while the rear vehicle 201 is present, the parking control device 100 stores parking space information for the already searched parking space even when the automatic parking control mode is canceled, and the automatic parking control mode is later restored. When it is turned on, automatic parking control can be performed by continuously using the stored parking space information. At this time, the parking space information may include the searched target parking space 203 and the parking control reference point 205 which is a left corner point of the parking vehicle 205 parked in front of the target parking space 203.

210 of FIG. 2 illustrates a situation in which the rear vehicle 201 follows when the vehicle 202 searches for a parking space to perform automatic parking control. 220 of FIG. 2 shows an example in which the vehicle parking control device 100 reverses toward the target parking space to avoid the road while recognizing that the rear vehicle 201 is present.

Referring to 203 of FIG. 2, when the vehicle 202 reverses to one side of the target parking space 203 and stops by avoiding the road, the rear vehicle 201 passes, and referring to 204, the vehicle 202 is reversed An example of performing automatic parking control to the target parking space 203 by advancing again from the point where it was stopped. At this time, the path 206 when the vehicle is moving forward and the path 207 where the vehicle 202 is retracting to enter the target parking space 203 are shown.

At this time, the vehicle parking control device 100 estimates the location of the vehicle 202 using the previously stored parking space information, that is, the parking control reference point 204, and the parking control reference point 204 when the vehicle 202 travels backward. Can be used to estimate the location of the host vehicle.

In addition, although FIG. 2 shows one parking path, the vehicle parking control apparatus 100 may perform automatic parking control by selecting a path having the shortest parking path length after showing a plurality of parking path candidates. .

3 is a view for explaining a method of generating a parking path of a vehicle parking control apparatus according to an embodiment of the present invention.

Referring to 310 of FIG. 3, the vehicle parking control device 100 searches for a parking space, and when the control reference point 304 is determined, the vehicle enters the parking path (so that the rear wheel center 309 reaches the parking target point 307). 308). At this time, automatic parking control at all positions on the line L2 having the same distance (d) as the descent of the repair from the line L1 extending from the rear wheel center 309 of the vehicle 302 to the parking control reference point 304 To start. At this time, the distance d of the foot of the repair may be the Y-axis of the parking path later. Referring to 320 of FIG. 3, after starting automatic subject control, the shift is performed at the same shift reference point 306.

4 is a view for explaining a method of generating a parking trajectory of a vehicle parking control apparatus according to an embodiment of the present invention. FIG. 4 discloses a method for generating an optimal parking path for automatic parking control when reversing toward a parking section in order not to block driving of a rear vehicle before starting automatic parking control.

The coordinate system of FIG. 4 may set a 2D coordinate system with the control reference point as the origin. At this time, the position of the shift reference point is determined according to the y-axis value d as described in FIG. 4, and the RSPA parking path is calculated from the shift reference point to the parking parking target point.

The parking path candidate group has four distances (d) from the line (L1) extending from the center of the rear wheel to the line (L2) extending from the parking reference control point (404) before the vehicle retracts, respectively, 200 cm, 250 cm, 300 cm, and 350 cm. It is a path. At this time, the vehicle parking control device 100 selects the candidate having the shortest moving distance from the location where the vehicle 402 is stopped (a position that has been reversed and stopped near the parking lot to avoid the road) among the candidates of the parking path to each parking path. You can choose.

That is, the vehicle parking control device 100 generates a new path from the vehicle 402 to the selected parking path from the stop position, and to the shift reference points 406-1, 406-2, 406-3, and 406-4 of the selected path. After the vehicle moves, the vehicle moves backward from the shift reference point to control the parking trajectory. For example, when the vehicle reverses to the parking compartment side and temporarily stops, the nearest path among the candidates for the parking path is calculated, and then a forward path that touches the path is generated. When the vehicle moves by following this forward trajectory and reaches the shift reference point (one of the candidates for the parking route), the vehicle is parked by backward control.

5 is a view for explaining a method for selecting a candidate parking trajectory of a vehicle parking control apparatus according to an embodiment of the present invention. 5 illustrates an example of generating a path for each parking trajectory candidate through 510, 520, 530, and 540.

At this time, the vehicle must not only reach the trajectory of the candidate group of parking trajectories, but also the heading angle of the vehicle must be the same. The same heading angle means that, if the vehicle finally draws a path to reach the parking trajectory, the vehicle advances and touches the path of the candidate parking trajectory upon arrival. Since the vehicle forward trajectory simultaneously generates steering and vehicle speed, the vehicle draws a closoid trajectory, and the vehicle speed is limited to 1 kph and the vehicle wheel angle is within 45 degrees. have. The shortest path length of each forward trajectory generated in this way can be selected. Referring to FIG. 5, when the distance d is 250 cm, it can be seen that the path length of the forward parking trajectory is the shortest, and this path can be selected.

Hereinafter, a vehicle parking control method according to an embodiment of the present invention will be described with reference to FIG. 6. 6 is a flowchart illustrating a vehicle parking control method according to an embodiment of the present invention.

Hereinafter, it is assumed that the vehicle parking control apparatus 100 of FIG. 1 performs the process of FIG. 6. In addition, in the description of FIG. 6, operations described as being performed by the device may be understood as being controlled by the processor 140 of the device 100.

Referring to FIG. 6, when the parking control device 100 enters the automatic parking control mode (S101), the parking space is searched (S102). At this time, the parking control device 100 may search the parking space based on the sensing result of the ultrasonic sensor of the sensor module 210, and the search of the parking space may be performed by the user as well as the parking control device 100. have.

When the parking space is searched, the vehicle parking control device 100 stops the vehicle and acquires parking space information (S103).

Subsequently, the vehicle parking control apparatus 100 determines whether a rear vehicle exists (S104), and determines whether an R-speed shift occurs when a rear vehicle does not exist (S105). At this time, the vehicle parking control device 100 may determine whether there is a rear vehicle based on the rear image data acquired through the rear camera of the sensor module 210. At this time, the rear vehicle may include a vehicle driving along the rear of the host vehicle, and may include a vehicle that is obstructed when parking of the host vehicle. In addition, the vehicle parking control device 100 may determine whether the R-speed is shifted through interlocking with the transmission 270, and the R-speed shift may be performed by a user.

The vehicle parking control device 100 determines that the user intends to drive directly when the R-speed is performed in the absence of a rear vehicle (S106), deletes the parking space information (S107), and sets the automatic parking control mode. Ends (S108).

On the other hand, in step S105, if the R-speed shift is not performed and the parking assistance button is input from the user (S110), the vehicle parking control device 100 has no rear vehicle and the user continues to perform the automatic parking control mode without the user's intention to park directly. It is determined that the user wants to perform the automatic parking control (S115).

On the other hand, if a rear vehicle exists in the process S104, and the vehicle parking control device 100 performs an R-speed shift, so that the vehicle retreats toward the parking compartment (S110), the vehicle is swayed to secure a path for the rear vehicle to pass. Judge.

Accordingly, the vehicle parking control device 100 stores and maintains the parking space information without deleting (S111), and estimates the vehicle position while driving toward the parking section (S112). At this time, the vehicle parking control apparatus 100 may receive the speed information, steering angle information, and ultrasonic sensing information from the sensor module 210 to estimate the vehicle location.

Subsequently, the vehicle parking control apparatus 100 generates a parking path from the current location to the parking space when the vehicle moves toward the parking area and then stops and the subsequent vehicle passes and the parking assistance button is input from the user (S113). (S114). At this time, the parking path may generate a candidate parking path as shown in FIGS. 4 and 5.

Accordingly, the vehicle parking control device 100 performs automatic parking control according to the generated parking path (S115). That is, the vehicle parking control apparatus 100 may control automatic parking by selecting a parking path having a shortest moving distance among a plurality of parking path candidates.

As described above, when entering the parking lot, the present invention enters an automatic parking control mode, searches for a parking space, and after a target parking space is found, a rear vehicle following the rear is recognized and the user directly travels backward to avoid the road, thereby automatically parking control mode Even if is released, the parking space information is stored, and when the user wants automatic parking control again, the user's convenience is increased by enabling automatic parking control to the target parking space that was searched for using the previously stored parking space information. I can do it.

7 illustrates a computing system according to an embodiment of the present invention.

Referring to FIG. 7, the computing system 1000 includes at least one processor 1100 connected through a bus 1200, a memory 1300, a user interface input device 1400, a user interface output device 1500, and storage 1600, and the network interface 1700.

The processor 1100 may be a central processing unit (CPU) or a semiconductor device that executes processing for instructions stored in the memory 1300 and / or storage 1600. The memory 1300 and the storage 1600 may include various types of volatile or nonvolatile storage media. For example, the memory 1300 may include read only memory (ROM) and random access memory (RAM).

Thus, steps of a method or algorithm described in connection with the embodiments disclosed herein may be directly implemented by hardware, software modules, or a combination of the two, executed by processor 1100. The software modules reside in storage media (ie, memory 1300 and / or storage 1600) such as RAM memory, flash memory, ROM memory, EPROM memory, EEPROM memory, registers, hard disk, removable disk, CD-ROM. You may.

An exemplary storage medium is coupled to the processor 1100, which can read information from and write information to the storage medium. Alternatively, the storage medium may be integral with the processor 1100. Processors and storage media may reside within an application specific integrated circuit (ASIC). The ASIC may reside in a user terminal. Alternatively, the processor and storage medium may reside as separate components within the user terminal.

The above description is merely illustrative of the technical idea of the present invention, and those of ordinary skill in the art to which the present invention pertains may make various modifications and variations without departing from the essential characteristics of the present invention.

Therefore, the embodiments disclosed in the present invention are not intended to limit the technical spirit of the present invention, but to explain, and the scope of the technical spirit of the present invention is not limited by these embodiments. The scope of protection of the present invention should be interpreted by the claims below, and all technical spirits within the equivalent range should be interpreted as being included in the scope of the present invention.

Claims (20)

After discovering the target parking space in the automatic parking control mode, even if the automatic parking control mode is turned off by the user's direct driving intention according to the presence of a rear vehicle, the parking space information for the target parking space is maintained, and the automatic parking A processor that controls to continuously perform automatic parking control using the parking space information when the control mode is on; And
A storage unit for storing the parking space information;
Vehicle parking control device comprising a. The method according to claim 1,
The parking space information,
A vehicle parking control device comprising at least one of target parking space information, a parking control reference point serving as a reference point for performing parking control, and a parking target point in a target parking space to be reached by a rear wheel of a vehicle for parking. . The method according to claim 1,
The processor,
When the rear vehicle does not exist, it is determined whether the user has a direct driving intention, and when the user has a direct driving intention, the parking space information is deleted and the automatic parking control mode is turned off. controller. The method according to claim 1,
The processor,
When the rear vehicle does not exist, it is determined whether the user has a direct driving intention, and when there is no direct driving intention, the vehicle parking control is performed based on the parking space information. Device. The method according to claim 1,
The processor,
When the rear vehicle is present and the user intends to drive directly, the parking space information is stored, and when the vehicle moves and stops by the user's direct driving, the vehicle stops when the automatic parking control mode is turned on. Vehicle parking control device characterized in that to perform the automatic parking control by generating a parking path from one location to the target parking space. The method according to claim 5,
The processor,
A vehicle parking control device for estimating a vehicle position when the vehicle moves and stops based on a sensing result received from at least one of a wheel speed sensor, a steering angle sensor, and an ultrasonic sensor. The method according to claim 5,
The processor,
A vehicle parking control device, based on the parking space information, calculates a shift reference point and generates a candidate parking path from the shift reference point to a parking target point, which is a point that the rear wheel center of the vehicle should reach. The method according to claim 5,
The processor,
And calculating at least one shift reference point according to a distance from the center of the rear wheel of the vehicle to an extension line of the parking control reference point among the parking space information, and generating at least one parking path according to the at least one shift reference point. Vehicle parking control device. The method according to claim 8,
The processor,
A forward path reaching each of the at least one shift reference point at a position where the vehicle is stopped is generated, and a backward path from the at least one shift reference point to a parking target point is generated to generate the forward path and the reverse path for each shift reference point. Vehicle parking control device characterized in that it generates a parking path including. The method according to claim 8,
The processor,
A vehicle parking control device, characterized in that the automatic parking control is performed by selecting a parking path having the shortest length among the at least one parking path. After detecting the target parking space in the automatic parking control mode, even after the automatic parking control mode is turned off by the user's direct driving intention according to the presence of a rear vehicle, the parking space information for the target parking space is stored and then automatically A vehicle parking control device that controls to perform automatic parking control continuously using the parking space information when the parking control mode is turned on; And
A sensor module that detects the rear vehicle and detects the current position of the vehicle to provide the vehicle parking control device;
Vehicle system comprising a. Searching a parking space in the automatic parking control mode;
Determining whether a rear vehicle exists if a target parking space is found through the parking space search; And
Even if the automatic parking control mode is turned off by the user's direct driving intention according to the presence of the rear vehicle, after storing the parking space information for the target parking space, when the automatic parking control mode is turned on, the parking space information is used Controlling to continue performing automatic parking control;
Vehicle parking control method comprising a. The method according to claim 12,
The parking space information,
A vehicle parking control method comprising at least one of target parking space information, a parking control reference point serving as a reference point for performing parking control, and a parking target point in a target parking space to be reached by a rear wheel of a vehicle for parking. . The method according to claim 12,
The step of controlling to continue to perform the automatic parking control,
If the rear vehicle is present, determining whether a user intends to drive directly;
When the user intends to drive directly, turning off the automatic parking control mode and storing the parking space information;
Generating a parking path candidate group from the location where the vehicle is stopped to the target parking space based on the parking space information when the automatic parking control mode is turned on after the vehicle moves and stops by the direct driving of the user. ; And
Performing automatic parking control based on a parking path selected from the candidate parking path groups
Vehicle parking control method comprising a. The method according to claim 14,
Generating the candidate parking path group,
Based on a parking reference control point among the parking space information, a shift reference point, which is a point at which the vehicle is shifted, is calculated, and a parking path candidate group from the shift reference point to a parking target point, which is a point where the rear wheel center of the vehicle should reach, is generated. Vehicle parking control method. The method according to claim 14,
Generating the candidate parking path group,
A vehicle characterized in that at least one shift reference point is calculated according to a distance from the center of the rear wheel of the vehicle to an extension line of the parking control reference point among the parking space information, and at least one parking path is generated according to the at least one shift reference point. Parking control method. The method according to claim 16,
Generating the candidate parking path group,
A forward path reaching each of the at least one shift reference point at a position where the vehicle is stopped is generated, and a backward path from the at least one shift reference point to a parking target point is generated to generate the forward path and the reverse path for each shift reference point. Vehicle parking control method characterized in that it generates a parking path including. The method according to claim 16,
Generating the candidate parking path group,
A vehicle parking control method, characterized in that the automatic parking control is performed by selecting a parking path having the shortest length among the at least one parking path. The method according to claim 12,
The step of controlling to continue to perform the automatic parking control,
When the rear vehicle does not exist and the user intends to drive the vehicle directly, the parking space information is deleted and the automatic parking control mode is turned off. The method according to claim 12,
The step of controlling to continue to perform the automatic parking control,
When the rear vehicle does not exist and the user does not intend to drive directly, the vehicle parking control method is performed based on the parking space information.

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