KR100867699B1 - Automatic parking system of a motor vehicle of providing a parking path including a forward path - Google Patents

Abstract

An automatic parking system is provided to produce vehicles which offers not only moving back locus but also advance locus and offer the suitable packing locus by controlling parameter to the situation of parking space. An automatic parking system of the vehicles providing the parking locus including the advance locus comprises the follow features of: a sensor providing the spatial information of the periphery of a vehicle and state of vehicle; A driving unit for driving vehicles; a controller for controlling the driving part for vehicles to follow the parking locus which is produced based on the information received from sensor; and an input unit for external input. The parking locus comprises the right parking locus including advance locus. The advance locus comprises the tangent section according to the straight line 1 which is parallel to front-line(110) of parking space which is determined by spare distance(c) to secure from the front-line guard, the tangent section according to the straight line 2 to secure the gradient of the vehicle in the moving back start range(M) as a circle having edge avoidance radius(R2), and the advance locus goal(B) which is the contact point between the circle having edge avoidance radius and the straight line 2.

Description

Automatic Parking System of a Motor Vehicle of Providing a Parking Path Including a Forward Path}

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic parking system for a vehicle that enables the driver to park the vehicle at a target position without the steering wheel operation of the driver. More particularly, the present invention relates to an automatic parking system that provides a parking track including a forward trajectory. .

In general, novice drivers and female drivers often have trouble parking. In particular, it is a fact of life that a large parking space is narrow while a car has a high penetration rate, so it is difficult for a driver who is poor at operating a vehicle to back up and park a vehicle at a desired position.

Recently, in consideration of such circumstances, for the convenience of the driver, research on an automatic parking system that automatically parks a vehicle at a corresponding position by automatically controlling the vehicle when the driver designates a desired parking position is actively underway. have. One example is BMW's automatic parking system, which automatically calculates the appropriate trajectory with a video camera and sensor mounted on the vehicle, and automatically operates the accelerator and the steering wheel. The driver simply presses a button on the remote control outside the vehicle.

Meanwhile, Korean Patent Laid-Open Publication Nos. 2001-0035738 and 2007-0062163 also introduce an automatic parking system related to the present invention. The contents of these publications are referred to the present invention.

However, all of the above-described conventional automatic parking systems provide a backward trajectory only and do not provide a forward trajectory. That is, in the conventional automatic parking system, as shown in FIGS. 1 and 2, the driver directly drives the vehicle 10 to park the vehicle 10 in the parking space 20. It should be moved to the position (③) to start reverse. As such, if the driver can accurately move the vehicle to the reverse position ③, the reverse parking lot may be possible. In addition, since the reverse position varies depending on the driver or the situation, there is a problem that automatic parking by the conventional system does not guarantee high accuracy.

Therefore, for the convenience of the driver and the immature driving, it is necessary to provide a forward trajectory, that is, a trajectory (① → ② → ③) for guiding the vehicle to the reverse position.

The present invention has been proposed to solve such a problem, and an object of the present invention is to provide an automatic parking system for a vehicle capable of providing not only a backward trajectory but also a forward trajectory required for the automatic parking of the vehicle.

In addition, the aim of the present invention is to provide an automatic parking system for a vehicle that can derive the optimal parking trajectory by adjusting the parameters according to the situation of the parking space by deriving the parameters that can be used for all the trajectory formation including the forward trajectory. .

According to an aspect of the present invention, there is provided an automatic parking system for a vehicle providing a parking trajectory including a forward trajectory, including: a sensing unit for providing a vehicle state and spatial information around the vehicle, and a driving unit for driving the vehicle; A control unit for controlling the driving unit to calculate a parking trajectory based on the information received from the sensing unit so that the vehicle follows the parking trajectory; And an input unit for external input.

In particular, the right angle parking trajectory according to the system according to the present invention, the clearance distance and the front of the parking space to be secured from the parking space side boundary when the vehicle is reversed and arranged in parallel to the parking direction in the longitudinal direction of the parking space The depth of entry from the boundary is set to avoid the corner of the parking space using a steering angle so that the rear wheel of the backing vehicle does not touch the corner of the parking space.

And, the forward trajectory of the system for guiding the perpendicular parking is a straight section along a straight line ① parallel to the parking space front boundary determined by the clearance distance to be secured from the front space parking boundary; A straight section according to a straight line ② having a vehicle slope to be secured at a reverse start position, as a tangent of a circle having an edge avoidance radius; And a forward trajectory target point that is a contact point between the circle having the corner avoidance radius and the straight line ②.

On the other hand, the parallel parking trajectory is parked using a straight line ② 'which simultaneously contacts a circle corresponding to the trajectory when the vehicle exits at the maximum steering angle from the backward trajectory target point and a circle centered at the corner and having a radius of the corner avoidance distance. It is set to avoid edges of space.

The forward trajectory of the system for guiding the parallel parking includes: a straight section along a straight line ① 'parallel to the parking space front boundary determined by the clearance distance to be secured from the parking space front boundary; And a forward trajectory target point that is a contact point between a circle which is in direct contact with a straight line ① 'and the straight line ②' and the straight line ① '.

Further, the backward trajectory of the parallel parking trajectory includes a curved section up to the section of the contact point using a circle which contacts the straight line ① 'and the straight line ②' at the same time.

The automatic parking system of the vehicle having the structure as described above can provide not only the backward trajectory but also the forward trajectory required for the automatic parking of the vehicle, thereby enabling more convenient vehicle parking.

In addition, since the optimum trajectory can be formed according to the situation of the parking space by adjusting the parameters that can be used for the formation of all trajectories including the forward trajectory, the reliability of the system is high.

Hereinafter, with reference to the accompanying drawings looks at with respect to the automatic parking system of a vehicle according to an embodiment of the present invention.

As shown in FIG. 3, the automatic parking system includes a sensing unit 30, a control unit 40, a driving unit 50, and an input unit 60. By using the input unit 60 may be integrated into the display unit 70.

The detector 30 provides the vehicle status and spatial information around the vehicle. The vehicle status information refers to information about the vehicle, such as the steering angle and shift lever position currently set by the driver, and the spatial information around the vehicle includes the distance between the vehicle and an object, the parking space where the driver wants to park the vehicle, and the surroundings. Say information about it. To this end, various sensors need to be additionally installed in addition to the sensors installed in the vehicle.

The control unit 40 transmits a control command for allowing the vehicle to follow the preset parking trajectory using the signal from the detection unit 30. Various signals received from the sensing unit 30 are compared, calculated, and analyzed with the setting data, and the control command is transmitted to the driving unit 50.

The driving unit 50 drives the vehicle according to the command of the control unit. Naturally, the driving unit 50 may include a driving unit for adjusting the sensing angle of the sensing unit 30 and the like.

The input unit 60 is a configuration for inputting various options and data such as a user selecting an automatic parking mode. The input unit 60 may be a remote controller, and may be integrated with the display unit 70 when using the touch screen.

As described above, each component of the system has been described, but these components are only schematically described, and various known techniques may be applied.

On the other hand, the core technology of the automatic parking system according to the present invention is how to configure the parking trajectory for following the vehicle. Therefore, the parking trajectory forming method according to the automatic parking system of the present invention will be described by dividing a perpendicular parking and a parallel parking.

[Square parking]

4 and 5, a description will be given of the parking trajectory forming method in the case of parallel parking according to the automatic parking system of the vehicle of the present invention.

The formation of the parking trajectory according to the automatic parking system of the present invention is related to a parameter set in order to prevent the rear wheel from colliding with the corner. First, the corner avoidance method will be described, and then the parking trajectory formation method will be described.

Corner avoidance method in square parking

As can be seen in FIG. 4, the avoidance of corners in automatic right-angle parking allows the vehicle to be guided to the parking space along the corner avoidance radius R2 where the rear wheels can enter the parking space without touching the corner E. Can be done.

Here, the parking space corner E may be defined by Equation 1 below by the vehicle width W and the parameters d and D described below.

On the other hand, the corner avoidance radius can also be defined by the parameters d, D, look at the parameters d, D.

The parameter d is the clearance distance to be secured from the parking space side boundary 120. That is, it is a parameter that can be determined in consideration of the width of the vehicle, the size of the parking space, etc. as the widthwise clearance of the parking space. Determination of these parameters will be able to set optimized values through simulation and verification of parking spaces of various sizes and characteristics.

The parameter D is the entry depth from the parking space front boundary 110 to secure it from the parking space side boundary 120 when the vehicle is reversed and is disposed parallel to the parking space longitudinal direction. . That is, it is a parameter that can be determined in consideration of the length of the vehicle, the size of the parking space, etc. as the longitudinal clearance of the parking space. It is also the distance from the front of the parking space to the center of the circle where the rear wheel of the vehicle can turn without touching the corner of the parking space. The position of O mentioned later changes with D.

When the parking space length and the widthwise clearance distance d and D to be secured as described above are determined, the steering angle φ at the corner avoidance radius R2 or the reverse position is determined accordingly. That is, when the parameters d and D are fixed, the rotation radius R2 and the steering angle φ that can avoid the parking space corner E are calculated according to Equations 2 and 3 below.

Where L: wheelbase.

W: The vehicle width.

r: corner avoidance rotation radius expressed as the rotation radius of the trajectory drawn by the rear wheels.

R2: Edge avoidance radius expressed as the radius of the trajectory drawn by the center of the rear axle. This value can be obtained from the above r value in consideration of vehicle specifications, and in this embodiment, R2 is used as the corner avoidance radius.

φ: Steering angle to prevent the rear wheel of a backing vehicle from reaching the corner of the parking space.

O: The target point for the backward trajectory. The rear wheel axle center position at which the vehicle retracted along the circle of R2 is parallel to the parking space side boundary, after which the vehicle is guided parallel to the parking space longitudinal direction. The value depends on parameter D.

On the other hand, when the steering angle φ is fixed to a specific value in contrast to the above, the parameters d and D can be adjusted. Therefore, by using the d, D, and φ values as appropriate change parameters from the above equations, it is possible to avoid the corner (E) of the parking space.

Parking trail formation method at right angle parking

의 직선 ②를 이용하여 얻어질 수 있다.As can be seen in Fig. 5, in the parallel parking, the parking trajectory is the inclination of the circle having the corner avoidance radius R2, the straight line 1 according to the clearance distance c, and the circle having the corner avoidance radius R2.

Can be obtained using the straight line.

)를 갖는 직선 ②에 따른 직선구간, 및 모서리 회피반경(R2)을 갖는 원과 직선 ② 간의 접점인 전진궤적 목표점(B)으로 구성된다.First, the perpendicular trajectory in the perpendicular parking is a straight section along the straight line ① parallel to the parking space front boundary 110 determined by the clearance distance c to be secured from the front space parking boundary, and the corner avoidance radius R2. The slope of the vehicle to be secured at the reverse starting position as the tangent of the

A straight line section according to the straight line ② with) and a forward trajectory target point B which is a contact point between the circle having a corner avoidance radius R2 and the straight line ②.

c is a clearance distance to be secured from the parking space front boundary 110, but in this embodiment, the distance from the rear wheel of the vehicle to the parking space front boundary 110 is defined, but the parking space front boundary (from the center of the rear axle of the vehicle) It may also be defined as a distance to 110). Such a straight line ① defined by c may be defined differently, but is preferably defined as a line segment connecting the center of the front and rear wheel axles of the vehicle at the forward start position S. FIG.

에 의해 결정된다. 여기서,

는 R2의 원과 접하는 직선 ②의 X축에 대한 기울기로서, 후진 시작위치(M)에서 확보하고자 하는 차량 기울기에 해당하며, 전진궤적을 따라 안내되는 차량이 Ymax와 닿지 않도록 하기 위한 범위에서 결정되는 파라미터이다. Ymax는 주차공간 맞은편에 존재할 수 있는 다른 차량이나, 장애물과의 충돌 회피를 위하여 설정되는 경계선으로서,

값이 큰 경우, 접선은 주차공간의 입구 가까이에서 발생되며,

값이 작은 경우, 접선은 Ymax에 가까운 곳에서 발생된다. Ymax 혹은

는 서로 마주하는 주차공간 간의 거리 등을 고려하여 최적의 값으로 설정될 수 있다.The straight line ② is a circle with a corner avoidance radius R2

Determined by here,

Is the inclination of the straight line ② in contact with the circle of R2, which corresponds to the inclination of the vehicle to be secured at the reverse start position (M), and is determined in a range to prevent the vehicle guided along the forward trajectory from reaching Ymax. Parameter. Ymax is a boundary line that is set to avoid collisions with other vehicles or obstacles that may exist across the parking space,

If the value is large, the tangent occurs near the entrance to the parking space,

If the value is small, the tangent occurs near Ymax. Ymax or

May be set to an optimal value in consideration of the distance between the parking spaces facing each other.

에 따른 접선이 R2 원에 접하는 접점(B)이 전진궤적 목표점이 되며, 이 지점에서 차량은 X축에 대하여 기울기가

인 상태에서 뒷바퀴 차축의 중심이 놓여져 있어야 한다.The forward trajectory target point B is the minimum forward trajectory end point that must be guided by the forward trajectory since at least at this point the reverse must be started.

The contact point (B) where the tangent line is in contact with the circle R2 becomes the forward trajectory target point, and at this point the vehicle is inclined relative to the X axis.

The center of the rear wheel axle should be in position.

M is a reverse start position, which is sufficient if it is on the extension line of the straight line ②. The vehicle may be guided immediately along the backward trajectory along the straight line ① to the forward trajectory target point B, but M is considered as a margin. When the vehicle reverses from the forward trajectory target point B at the steering angle φ, the vehicle reverses along the trajectory of the circle of R2 and is guided to the backward trajectory target point O.

At the backward trajectory target point O, the vehicle is arranged parallel to the Y axis, and then the vehicle may reverse as it is with the steering angle at zero. At this time, the degree to which backwards may be derived may be derived as an optimal value in consideration of the length of the statistical parking space.

[Parallel parking]

Hereinafter, referring to FIGS. 6 and 7, a parking trajectory forming method in the case of parallel parking according to the automatic parking system of the vehicle according to the present invention will be described.

Edge avoidance method in parallel parking

As can be seen in FIG. 6, the avoidance of the corner E in automatic parallel parking is achieved by allowing the vehicle to enter the parking space along the tangent of the θ slope, which simultaneously contacts two circles with a radius of R1 and R2. Can be. here,

O: The target point for the backward trajectory. That is, as the origin O of the parking space, it can be expressed as the position of the center of the rear axle of the vehicle.

R1: Minimum radius of rotation of the vehicle from the parking space origin (O). That is, assuming that the vehicle is parked at the target point of the backward trajectory, it refers to the minimum rotation radius of the vehicle that is drawn while leaving the parking space at the maximum steering angle. Here, the rotation radius R1 is a fixed value determined according to the specification of the vehicle, and may be represented as a trajectory drawn by the center of the rear axle of the vehicle.

R2 ': Edge evasion distance. As a separation distance between the vehicle and the corner to be secured to avoid the corner, it may be expressed as a value obtained by adding a margin margin d 'to the distance (half of the vehicle width W) from the center of the vehicle rear axle to the corner.

θ: The slope of the tangent tangent to the circle according to R1, R2 '.

P1: The contact between the tangent tangent to the circle along R1 and R2 'at the same time and the circle along R1. When parking, the vehicle must be guided to at least P1 and then rotated to the maximum steering angle so that it can be placed parallel to the X axis at the position of origin O.

On the other hand, the above parameters may be obtained as an optimized value through the simulation of the characteristics of various situations and parking spaces.

Parking trail formation method for parallel parking

As can be seen in Fig. 7, the parking trajectory in the parallel parking is a straight line ② '(tangentially in contact with P1 and P2, respectively) and a parking space front boundary, which are tangent to the circle according to R1 and R2' as described above. It can be obtained by using a straight line ① 'along the clearance c' to be secured.

First, the forward trajectory is a circle (1) parallel to the parking space front boundary (110) determined by the clearance distance c 'to be secured from the parking space front boundary and a straight line ①' and a straight line ② 'simultaneously contacting each other ( It can be obtained by P3, which is the contact between R3) and the straight line ① '.

Here, the straight line ① 'becomes a straight line section of the forward trajectory, and the contact point P3 becomes the forward trajectory target point. The clearance distance c 'corresponds to the clearance distance c in the right angle parking, and may be defined as the distance from the center of the axle of the vehicle to the front boundary 110 of the parking space. The straight line ① 'may be defined as a line connecting the center of each axle of the front and rear wheels. In addition, there may be a plurality of circles (R3) in contact with the straight lines ①, ② at the same time, it can be optimized through simulation. In particular, since the circle R3 is intended to allow the vehicle guided along the backward trajectory from the forward trajectory target point P3 to be guided more smoothly, the optimal value is selected by the designer in consideration of the specifications of the vehicle and other conditions. Can be.

On the other hand, M is the reverse start position. The vehicle may be guided immediately along the backward trajectory along the straight line ① to the forward trajectory target point P3, but M is considered as a margin. Naturally, M should be on the extension line of the straight line ① and the vehicle should be able to position the center of the rear wheel axle at the forward trajectory target point P3, no matter where the actual starting position of the reverse is, and then follow the circle according to R3. It should be able to be guided to P2.

Next, the backward trajectory has a curved section from P3 to P2, a straight section from P2 to P1, and a curved section from P1 to O. Since these backward trajectories have already been described, further explanation is omitted.

[Parking trajectory tracking method]

Referring to Figure 5, looks at the vehicle tracking method when the right-angle parking.

The position at which the driver stops the vehicle near the parking space will vary depending on the situation. If the vehicle position at the time of auto parking mode selection is not on the straight line ①, the control unit controls the drive unit so that the vehicle can be placed on the straight line parallel to the X axis. Thereafter, the controller guides the vehicle along a straight line ②, a forward trajectory target point B, a curve ③, a backward trajectory target point O, and a straight line ④.

The vehicle tracking method in parallel parking is no different from the above. It demonstrates with reference to FIG.

When the automatic parking mode is selected, the control unit of the system controls the driving unit to guide the vehicle along a straight line ① 'parallel to the X axis. Thereafter, the controller guides the vehicle along P3 to P2, the straight line '2', and P1 to O.

Meanwhile, in the above description, the parking space front boundary and the side boundary may be a parking line or a structure drawn for the partition of the parking space.

1 is a view showing a vehicle movement trajectory in a conventional right-angle parking,

2 is a view showing a vehicle movement trajectory in a conventional parallel parking;

3 is a schematic configuration diagram of an automatic parking system according to the present invention;

4 is a view for explaining a collision avoidance condition when the perpendicular parking according to the automatic parking system of the present invention,

5 is a view for explaining a perpendicular parking trajectory according to the automatic parking system of the present invention;

6 is a view for explaining a collision avoidance condition when parallel parking according to the automatic parking system of the present invention,

7 is a view for explaining a parallel parking trajectory according to the automatic parking system of the present invention.

<Description of the symbols for the main parts of the drawings>

10: vehicle 20: parking space

110: parking space front boundary 120: parking space side boundary

W: Vehicle width l: Wheelbase

E: corner φ: steering angle

Claims (5)

A sensing unit for providing vehicle status and spatial information around the vehicle, and a driving unit for driving the vehicle; A control unit for controlling the driving unit to calculate a parking trajectory based on the information received from the sensing unit so that the vehicle follows the parking trajectory; And an input unit for external input. The parking trajectory includes a right angle parking trajectory including a forward trajectory, and the forward trajectory is A straight section along a straight line ① parallel to the parking space front boundary 110 determined by the clearance distance c to be secured from the parking space front boundary; The slope of the vehicle to be secured at the reverse starting position M as the tangent of the circle having the edge avoidance radius R2 (

A straight section according to the straight line ② with); And And a forward trajectory target point (B), which is a contact point between the circle having the corner avoidance radius (R2) and the straight line ②, wherein the vehicle has a parking trajectory including the forward trajectory. The method of claim 1, wherein the right angle parking trajectory, From the parking space side boundary 120 and the parking space front boundary 110 to be secured from the parking space side boundary 120 when the vehicle is reversed and is disposed parallel to the parking space longitudinal direction. Depth of entry (D), using the steering angle (φ) to prevent the rear wheel of the vehicle back to the corner of the parking space using a forward trajectory, characterized in that it is set to avoid the corner (E) of the parking space Automatic parking system for vehicles that provide parking trajectory. A sensing unit for providing vehicle status and spatial information around the vehicle, and a driving unit for driving the vehicle; A control unit for controlling the driving unit to calculate a parking trajectory based on the information received from the sensing unit so that the vehicle follows the parking trajectory; And an input unit for external input. The parking trajectory includes a parallel parking trajectory, the parallel parking trajectory, A straight line (P2) contacting a circle (R1) corresponding to the trajectory when the vehicle exits at the maximum steering angle at the backward trajectory target point (O) and a circle (R2 ') centered at the corner and having a corner evacuation distance (P2) at the same time. Automatic parking system of a vehicle providing a parking trajectory including a forward trajectory, characterized in that it is set to avoid the corner (E) of the parking space by using ② '. The method of claim 3, wherein the forward trajectory of the parallel parking trajectory, A straight section along a straight line ① 'parallel to the parking space front boundary 110 determined by the clearance distance c' to be secured from the parking space front boundary; And A forward trajectory target point (P3) that is a contact point between the circle (R3) and the straight line ① 'at the same time in contact with the straight line ①' and the straight line ② '; Automatic parking system. The method according to claim 4, wherein the backward trajectory of the parallel parking trajectory, Automatic parking of a vehicle providing a parking trajectory including a forward trajectory, comprising a curved section up to a section of the contact points P2 to P3 using a circle (R3) contacting the straight line ① 'and the straight line ②' at the same time. system.

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