KR20210119626A - System for parking assistance of vehicle using sensor calibration and method thereof - Google Patents

Abstract

According to one embodiment of the present invention, a system for assisting parking of a vehicle using sensor calibration comprises: a sensor unit provided on a front side of a vehicle to sense an obstacle and adjusting a field of view (FOV) by driving of a small driving device; and a vehicle control unit fusing a sensor value of the sensor unit to make an occupancy grid map with respect to an advancing path of the vehicle, generating a reverse parking path by using the occupancy grid map during reverse parking, and controlling movement of the vehicle to follow the generated reverse parking path. The present invention enables a vehicle to accurately follow the generated reverse parking path.

Description

SYSTEM FOR PARKING ASSISTANCE OF VEHICLE USING SENSOR CALIBRATION AND METHOD THEREOF

The present invention relates to a vehicle parking assistance system and method using sensor correction, and more particularly, in assisting reverse parking, a small actuator is configured in an omnidirectional ADAS (Advanced Driver Assistance Systems) sensor so that individual sensors are in parking mode. The present invention relates to a parking assistance system and method for a vehicle using sensor correction capable of improving the performance of reverse parking by differently adjusting a field of view (FOV) according to the present invention.

In general, the automatic reverse path control system estimates the previous driving trajectory (the previous forward driving path) recorded using the vehicle speed sensor and the steering angle sensor when backward driving is required on the same path that the vehicle traveled just before, and the forward driving path just before reversing. It is a technology that controls the reverse driving path in the same way as with .

The conventional automatic reverse path control system is a vehicle speed sensor for measuring wheel pulse count information of a vehicle, a steering angle sensor for measuring steering angle information of a wheel steering wheel, and information from a vehicle speed sensor and a steering angle sensor at regular distance intervals. Driving trajectory storage unit that stores driving trajectory data, function selection button that generates a driver selection signal to activate the automatic steering function when driving backwards It may consist of a control unit requesting operation of the MDPS based on the driving trajectory data acquired from

In the driving trajectory storage unit of the automatic reverse route control system, the driving trajectory data generated until just before the reverse driving is sequentially stored at regular distance intervals during forward driving. The driving trajectory data is acquired in the reverse order of the order.

However, since forward driving and reverse driving have different turning radii due to the configuration of the vehicle, controlling the reverse driving path in the same way as the forward driving path using only the vehicle speed sensor and the steering angle sensor has a problem in that the error rate is high.

Republic of Korea Patent Publication No. 10-0955483

In an embodiment of the present invention, in assisting reverse parking, a small actuator is configured in the omnidirectional ADAS sensor so that individual sensors adjust the FOV differently depending on the parking mode to improve the performance of reverse parking. Create an occupancy grid map for the moving path using the fusion of sensor values, and create a reverse parking path using the obstacle information on the occupancy grid map when assisting with reverse parking. An object of the present invention is to provide a vehicle parking assistance system and method using sensor calibration that enables accurate tracking.

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 description.

The parking assistance system of a vehicle using sensor correction according to an embodiment of the present invention is provided in all directions of the own vehicle to detect obstacles, and a sensor unit for adjusting Field of View (FOV) by driving a small actuator and the sensor unit To create an occupancy grid map for the traveling path of the own vehicle by fusing sensor values, to generate a reverse parking path using the occupancy grid map when parking backward, and to follow the generated reverse parking path It may include a vehicle control unit for controlling the movement of the own vehicle.

In an embodiment, the sensor unit may be provided at the front, rear, and side of the own vehicle.

In an embodiment, the vehicle control unit may adjust the FOV of the sensor unit to search for a parking space and update and display the location of the own vehicle on the occupancy grid map in real time.

In an embodiment, the vehicle control unit may adjust the FOV of the sensor unit differently according to a driving mode or a parking mode.

In an embodiment, the sensor unit may automatically perform sensing sensitivity correction when adjusting the FOV according to a driving mode or a parking mode.

In an embodiment, the vehicle control unit may readjust the FOV of the sensor unit to match the driving mode when the parking mode ends.

In one embodiment, the vehicle control unit, after FOV adjustment and sensing sensitivity correction of the sensor unit, fuse the sensor values of the sensor unit to estimate the location of the own vehicle and update the occupied grid map at the same time, a grid map generator, the own vehicle A forward path management unit that interpolates the position of the own vehicle with a cubic curve function and stores it at equal intervals until just before reverse parking when moving forward, and the sensor value of the sensor unit when the own vehicle is parked in reverse after reflecting on the occupancy grid map. It may include a reverse path generator for generating a reverse parking path on the occupancy grid map, and a path follower for controlling the movement of the own vehicle to follow the reverse parking path generated by the reverse path generating unit.

The parking assistance method of a vehicle using sensor correction according to another embodiment of the present invention is provided in the front, rear, and side of the own vehicle by fusing the sensor values of the sensor unit that detects obstacles while adjusting the FOV by driving a small actuator. A map creation step of creating an occupancy grid map for the traveling path of the own vehicle, a path generation step of generating a reverse parking path using the occupancy grid map when the own vehicle is parked in reverse, and the own vehicle to follow the generated reverse parking path It may include a parking step for controlling the movement of

In an embodiment, the generating the route may include adjusting the FOV of the sensor unit to search for a parking space and updating and displaying the location of the own vehicle on the occupancy grid map in real time.

In an embodiment, the generating the route may include adjusting the FOV of the sensor unit to match the parking mode.

In an embodiment, the generating the path may include automatically performing sensing sensitivity correction when adjusting the FOV according to the parking mode.

In an embodiment, after the parking step, when the parking mode ends, the method may include re-adjusting the FOV of the sensor unit to match the driving mode.

In assisting reverse parking, this technology is to improve the performance of reverse parking by configuring a small actuator in the omnidirectional ADAS sensor so that each sensor adjusts the FOV differently depending on the parking mode. Create an occupancy grid map for the route moved using convergence, create a reverse parking path using obstacle information on the occupancy grid map when assisting with reverse parking, and follow the created reverse parking path accurately. It has the effect of making it possible.

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

1 is a block diagram illustrating a vehicle parking assistance system using sensor correction according to an embodiment of the present invention.
2 is a view for explaining a parking process in a vehicle parking assistance system using sensor correction according to an embodiment of the present invention.
3 is a view for explaining an operation process of a sensor when driving in a vehicle parking assistance system using sensor correction according to an embodiment of the present invention.
4 is a view for explaining an operation process of a sensor during parallel parking in a vehicle parking assistance system using sensor correction according to an embodiment of the present invention.
5 is a view for explaining an operation process of a sensor during orthogonal parking in a vehicle parking assistance system using sensor correction according to an embodiment of the present invention.
6 is a flowchart illustrating a vehicle parking assistance method using sensor correction 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 components are given the same reference numerals as much as possible even though they are indicated on different drawings. In addition, in describing the embodiment of the present invention, if it is determined that a detailed description of a related known configuration or function interferes with the understanding of the embodiment of the present invention, the detailed description thereof will be omitted.

In describing the components of the embodiment of the present invention, terms such as first, second, A, B, (a), (b), etc. may be used. These terms are only for distinguishing the components from other components, and the essence, order, or order of the components are not limited by the terms. In addition, unless otherwise defined, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which the present invention belongs. Terms such as those defined in a commonly used dictionary should be interpreted as having a meaning consistent with the meaning in the context of the related art, and should not be interpreted in an ideal or excessively formal meaning unless explicitly defined in the present application. does not

Hereinafter, embodiments of the present invention will be described in detail with reference to FIGS. 1 to 5 .

1 is a block diagram illustrating a vehicle parking assistance system using sensor correction according to an embodiment of the present invention, and FIG. 2 is a parking process in the vehicle parking assistance system using sensor correction according to an embodiment of the present invention. 3 is a diagram for explaining an operation process of a sensor when driving in a vehicle parking assistance system using sensor correction according to an embodiment of the present invention, and FIG. 4 is an embodiment of the present invention It is a view for explaining an operation process of a sensor during parallel parking in a parking assistance system of a vehicle using sensor correction according to It is a diagram for explaining the operation process of

Referring to FIG. 1 , the parking assistance system of a vehicle using sensor correction according to an embodiment of the present invention adjusts the FOV (Field of View) of omnidirectional ADAS (Advanced Driver Assistance Systems) sensors in assisting reverse parking. To improve the performance of reverse parking, the sensor unit 100 , the mode input unit 300 , and the vehicle control unit 500 may be included.

The sensor unit 100 is provided in all directions of the own vehicle 10 to detect obstacles, the front sensor 110 provided in the front of the own vehicle 10, and the rear sensor 130 provided in the rear of the own vehicle 10 . And it may include a side sensor 150 provided on the left side and the right side of the own vehicle (10).

The front sensor 110 , the rear sensor 130 , and the side sensor 150 may constitute a sensor adjustment unit 730 including a small actuator such as a motor, and the FOV up/down/up/down by driving the sensor adjustment unit 730 . It can be adjusted left/right.

The front sensor 110 , the rear sensor 130 , and the side sensor 150 may include a camera, an ultrasonic sensor, a radar sensor, a lidar sensor, and the like.

For reference, the camera may photograph the front, rear, or side of the own vehicle 10 , and may transmit image data obtained through this to the vehicle controller 500 .

The lidar sensor may detect the front, rear, or side of the own vehicle 10 , and may constitute a laser transmission module, a laser detection module, a signal collection and processing module, and a data transmission/reception module.

The radar sensor may detect the front, rear, or side of the host vehicle 10 , and may be a sensor device that uses electromagnetic waves to measure a distance, speed, or angle of an object.

The mode input unit 300 can select and input a driving mode or a parking mode of the own vehicle 300, a driving mode selected when driving forward, a right angle parking mode selected when reversing to park in a perpendicular parking mode, and parallel parking You can select and input the parallel parking mode to be selected when reversing to park with .

The front sensor 110 , the rear sensor 130 , and the side sensor 150 are initially set to FOV according to the driving mode, and referring to FIG. 2 , when the parking mode is selected, the front sensor 110 and the rear sensor 130 ) and the side sensor 150 while adjusting the FOV, the parking space (P) search and the location of the own vehicle (10) can be accurately identified and parked.

For example, referring to FIG. 3 , in the driving mode, the FOV of the front sensor 110 , the rear sensor 130 , and the side sensor 150 can be rotated to face a certain direction, and the The FOV may be oriented forward, the FOV of the rear sensor 130 may be oriented toward the rear, and the FOV of the lateral sensor 150 may be rotated to face diagonally outward.

4, in the parallel parking mode, the FOV can be adjusted by driving the front sensor 110, the rear sensor 130, and the side sensor 150 to match the parallel parking mode, and the FOV of the front sensor 110 is It can rotate downward to face the front lower part, the FOV of the rear sensor 130 can rotate downward to face the rear lower part, and the FOV of the left side sensor 150 can rotate to face the left side, The FOV of the right side sensor 150 may rotate toward the right.

Similarly, referring to FIG. 5 , in the orthogonal parking mode, the FOV can be adjusted by driving the front sensor 110 , the rear sensor 130 and the side sensor 150 to match the orthogonal parking mode. The FOV may rotate downward to face the front lower part, and the FOV of the rear sensor 130 may rotate downward to face the rear lower part, and the left lateral sensor 150 and the right lateral sensor 150 located in the front may be rotated downward. The FOV of may rotate to face forward, and the FOV of the left lateral sensor 150 and the right lateral sensor 150 located at the rear may rotate to face the rear.

In addition, if the FOV of the front sensor 110 , the rear sensor 130 , and the side sensor 150 is adjusted according to the driving mode, the right angle parking mode and the parallel parking mode, the calibration of the sensing sensitivity of each sensor is automatically This can improve the accuracy of the sensor.

The vehicle control unit 500 may be an ECU (Electrical Control Unit), and by fusing the sensor values of the sensor unit 100 , an Occupancy Grid Map for the traveling path of the own vehicle 10 is created, and the vehicle moves backward. When parking, a reverse parking path may be generated using the occupancy grid map, and the movement of the host vehicle 10 may be controlled to follow the generated reverse parking path.

Referring to FIG. 1 , the vehicle control unit 500 may include a grid map generation unit 510 , a forward path management unit 530 , a reverse path generation unit 550 , and a path follower 570 .

The grid map generator 510 uses the front sensor 110 , the rear sensor 130 , and the side sensor 150 to accurately estimate the position of the own vehicle 10 . It is possible to estimate the location of the host vehicle 10 by using the fusion of the sensor values after performing the adjustment and correction of the sensing sensitivity and create an occupancy grid map for the moving path (Simultaneous Localization And Mapping (SLAM)).

The grid map generator 510 may update the occupancy grid map while continuing to estimate the location of the own vehicle 10 by fusing the sensor values of the sensor unit 100 when the own vehicle 10 continues to move.

The forward path management unit 530 continues the forward path of the own vehicle 10 together with the occupancy grid map and stores it in the forward path storage unit 710. The positions can be interpolated with a cubic curve function and stored at equal intervals.

The forward path management unit 530 may store the location of the own vehicle 10 as well as information interpolated by curves to store the continuous movement of the vehicle.

The reverse path generation unit 570 may fuse the sensor values of the sensor unit 100 during reverse parking of the own vehicle 10 and reflect it on the occupancy grid map, and map the location of the own vehicle 10 on the occupancy grid map. It is possible to estimate in real time through matching and create a reverse parking path using obstacle information on the occupancy grid map.

The path following unit 590 can control the movement of the host vehicle 10 to follow the reverse parking path generated by the reverse path generation unit 570, and includes an engine control system, a braking control system, and a steering control system. It is possible to accurately follow the reverse path generated by the reverse path generator 550 through the vehicle output unit 770 .

In this case, the FOV of the front sensor 110 , the rear sensor 130 , or the side sensor 150 may be adjusted to accurately estimate the position of the own vehicle 10 following the reverse path.

For reference, the engine control system can perform deceleration, acceleration, and on/off of the engine in order to operate the own vehicle 10 , and according to a control command of the vehicle controller 500 , the own vehicle 10 . When a collision is expected during the operation of the vehicle, deceleration may be performed, and the engine on/off may be performed at the start or end of the operation of the host vehicle 10 .

The braking control system can control whether the brake of the own vehicle 10 operates and control the response force of the brake, regardless of whether the driver operates the brake when a collision is expected when the own vehicle 10 is driven. It is possible to control to automatically operate the emergency brake according to a control command of the vehicle controller 500 .

The steering control system can control the electric power steering system (MPDS) that drives the steering wheel, and when a collision of the own vehicle 10 is expected, the vehicle 10 can avoid the collision or minimize damage. (10) can control the steering.

The reverse parking path generated by the reverse path generation unit 570 and the parking path followed through the path estimation unit 590 can be known through the driver output unit 750 including a speaker and a display inside the own vehicle 10, , the driver output unit 750 may provide information about a specific situation to the driver or warn of a dangerous situation.

For example, the driver output unit 750 may output a situation description and a warning sound through a speaker, and may output a situation message or warning message through a HUD display or a side mirror display.

When the parking mode is terminated by completing reverse parking, the front sensor 110, the rear sensor 130, and the side sensor 150 can readjust the FOV to suit the driving mode, and the sensing sensitivity correction can also be performed automatically. .

Hereinafter, a method for supporting parking of a vehicle using sensor correction according to another embodiment of the present invention will be described in detail with reference to FIG. 6 . 6 is a flowchart illustrating a vehicle parking assistance method using sensor correction according to an embodiment of the present invention.

Hereinafter, it is assumed that the vehicle's parking assistance system using the sensor calibration of FIG. 1 performs the process of FIG. 6 .

First, with reference to FIG. 6 , a sensor adjustment unit which is a small actuator mounted on the front sensor 110 provided at the front of the own vehicle 10 , the rear sensor 130 provided at the rear side, and the side sensor 150 provided on the side of the own vehicle 10 . The FOV of the front sensor 110 , the rear sensor 130 , and the side sensor 150 can be adjusted by driving ( 730 ) ( S110 ).

Subsequently, the vehicle control unit 500 may fuse the sensor values of the front sensor 110 , the rear sensor 130 , and the side sensor 150 that detect the obstacle ( S120 ), and through the grid map generator 510 . An occupancy grid map for the traveling path of the own vehicle 10 may be generated (S130).

The grid map generator 510 estimates the position of the own vehicle 10 by using the fusion of the sensor values of the front sensor 110, the rear sensor 130, and the side sensor 150, and at the same time, the occupancy grid for the moving path. A map can be created, and when the own vehicle 10 continues to move, the occupancy grid map can be updated while continuously estimating the location of the own vehicle 10 by fusing the sensor values of the sensor unit 100 ( S140 ).

Subsequently, a reverse parking path using the occupancy grid map can be generated when the own vehicle 10 is parked in reverse through the reverse path generating unit 550 , and the front sensor 110 , the rear sensor 130 , and the side sensor 150 . ), the location of the own vehicle 10 can be updated and displayed in real time on the parking space search and occupancy grid map by adjusting the FOV (S150).

At this time, the FOV of the front sensor 110 , the rear sensor 130 , and the side sensor 150 may be adjusted to match the parking mode, and sensing sensitivity correction may be automatically performed when the FOV is adjusted.

Accordingly, the front sensor 110 , the rear sensor 130 , and the side sensor 150 detect the surroundings of the own vehicle 10 to calculate a plurality of parking areas in which the own vehicle 10 can be parked, and the front sensor ( 110), the rear sensor 130 and the side sensor 150 may detect parking lines, a curb disposed near the parking line, and an empty space between adjacent vehicles.

In this case, the reverse path generator 550 may calculate the parking areas in consideration of the length and width of the own vehicle 10 , and display information on the calculated parking areas through the display of the driver output unit 750 . can

Subsequently, when the optimal parking area is determined, the reverse path generator 550 may calculate and calculate a reverse parking path between the current location of the own vehicle 10 and the optimal parking area.

Then, by controlling the movement of the host vehicle 10 through the path following unit 570 to follow the generated reverse parking path, the engine control system, the braking control system, and the steering that received the control signal from the path following unit 570 . Parking can be completed while accurately following the reverse path generated by the reverse path generation unit 550 through the vehicle output unit 770 including the control system (S160).

Then, when the parking mode ends after parking is completed, the FOV of the front sensor 110 , the rear sensor 130 , and the side sensor 150 may be readjusted to suit the driving mode.

As described above, in assisting reverse parking, the present technology can improve the performance of reverse parking by configuring a small actuator in the omnidirectional ADAS sensor so that individual sensors adjust the FOV differently depending on the parking mode. After creating an occupancy grid map for the moving path using the fusion of visual sensor values, and creating a reverse parking path using the obstacle information on the occupancy grid map when assisting reverse parking, the generated reverse It has the effect of accurately following the parking path.

On the other hand, the vehicle parking assistance method using the sensor correction according to steps S110 to S160 according to the present invention may be programmed and stored in a computer-readable recording medium.

The above description is merely illustrative of the technical spirit of the present invention, and various modifications and variations will be possible without departing from the essential characteristics of the present invention by those skilled in the art to which the present invention pertains.

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 protection scope of the present invention should be construed by the following claims, and all technical ideas within the scope equivalent thereto should be construed as being included in the scope of the present invention.

100: sensor unit 300: mode input unit
500: vehicle control unit

Claims (13)

A sensor unit that is provided in all directions of the own vehicle to detect obstacles and adjusts FOV (Field of View) by driving a small actuator; and
By fusing the sensor values of the sensor unit, an occupancy grid map for the traveling path of the own vehicle is created, and a reverse parking path is generated using the occupancy grid map when parking backward, and the generated reverse parking path A vehicle control unit that controls the movement of the own vehicle to follow
A vehicle parking assistance system using sensor calibration, comprising: The method according to claim 1,
The sensor unit,
A parking assistance system for a vehicle using sensor correction, characterized in that provided in the front, rear and side of the own vehicle. The method according to claim 1,
The vehicle control unit,
A parking assistance system for a vehicle using sensor correction, characterized in that by adjusting the FOV of the sensor unit to search for a parking space and update and display the location of the own vehicle on the occupancy grid map in real time. The method according to claim 1,
The vehicle control unit,
A parking assistance system for a vehicle using sensor correction, characterized in that the FOV of the sensor unit is adjusted differently according to a driving mode or a parking mode. 5. The method according to claim 4,
The sensor unit,
A parking assistance system for a vehicle using sensor correction, characterized in that automatically performing sensing sensitivity correction when adjusting FOV according to driving mode or parking mode. 5. The method according to claim 4,
The vehicle control unit,
A parking assistance system for a vehicle using sensor correction, characterized in that when the parking mode is terminated, the FOV of the sensor unit is readjusted according to the driving mode. The method according to claim 1,
The vehicle control unit,
a grid map generator configured to fuse the sensor values of the sensor unit after FOV adjustment and sensing sensitivity correction of the sensor unit to estimate the location of the own vehicle and update the occupied grid map;
a forward path management unit for interpolating the position of the own vehicle with a cubic curve function and storing it at equal intervals until just before reversing parking of the own vehicle;
a reverse path generation unit for generating a reverse parking path on the occupancy grid map after fusing the sensor values of the sensor unit during reverse parking of the own vehicle and reflecting them on the occupancy grid map; and
A path follower for controlling the movement of the own vehicle to follow the reverse parking path generated by the reverse path generating unit
A vehicle parking assistance system using sensor calibration, comprising: a map creation step of creating an occupancy grid map for the traveling path of the own vehicle by fusing the sensor values of the sensor unit for detecting obstacles while adjusting the FOV by driving a small actuator;
a path generating step of generating a reverse parking path using the occupancy grid map when the own vehicle is parked in reverse; and
A parking step of controlling the movement of the host vehicle to follow the generated reverse parking path
A method of assisting parking of a vehicle using sensor calibration, comprising: 9. The method of claim 8,
The path creation step is
and adjusting the FOV of the sensor unit to search for a parking space and update and display the location of the own vehicle on the occupancy grid map in real time. 9. The method of claim 8,
The path creation step is
and adjusting the FOV of the sensor unit to match the parking mode. 11. The method of claim 10,
The path creation step is
and automatically performing sensing sensitivity correction when adjusting the FOV according to the parking mode. 11. The method of claim 10,
After the parking step,
When the parking mode is terminated, the method of supporting parking of a vehicle using sensor correction comprising the step of re-adjusting the FOV of the sensor unit to match the driving mode. A computer-readable recording medium in which a program for executing the vehicle parking assistance method using the sensor correction of any one of claims 8 to 12 is recorded.

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