KR101094788B1 - Method And Apparatus Of Guiding Parking - Google Patents

Abstract

The present invention is to provide a parking guidance device and method that can provide the parking information necessary for parking in each parking step, if any one of parallel parking or right angle parking by the reverse, to this end, the present invention The input unit receives at least one of a rear camera collecting a rear image of a vehicle, the rear image collected, a parking mode selected by a user, whether the vehicle is moved forward and backward, a distance from a surrounding vehicle, and a steering angle of a steering wheel. According to whether the selected parking mode is a rear parallel parking or a rear right parking, the parking guidance process is divided according to a predetermined step, and the current position of the vehicle and the position to park the car are divided by the information input through the input unit. And a control unit for calculating parking information related to a location of a surrounding vehicle, and the calculated parking information. The display unit includes an output unit for displaying the parking guidance mark for each divided step so that the user can check the parking guidance process for each divided step, and the control unit detects whether the vehicle is in contact with surrounding vehicles in front, rear, left, and right through the contact sensor of the input unit. And outputs a warning message through a monitor or a speaker of the output unit according to the determination result.

Reverse, right angle parking, parallel parking

Description

Method and device for parking guidance {Method And Apparatus Of Guiding Parking}

The present invention relates to a method and apparatus for inducing parking of a vehicle, and more particularly, to a parking guidance method for providing information necessary for each parking step and an apparatus using the same.

The most difficult part of a novice driver's driving is the parking problem. That is, novice or female driver requires more attention and time than a skilled driver in parking parallel or right angles.

On the other hand, as the vehicle occupies more and more part of the real life, various convenience facilities for helping the driver's convenience are also improved. These facilities include lane departure prevention devices, drowsiness driving prevention devices, collision avoidance devices through securing safety distances, devices that detect obstacles near the vehicle, navigation using GPS receivers to inform traffic information of the current location, and CDs. And AV systems for controlling DVDs, radios or TVs, etc., and are being applied to actual vehicles.

In addition, a facility provided in connection with the parking of the vehicle includes a rear monitoring system that shows a rear image when the vehicle is parked backward. The rear monitoring system makes it easier for the driver to reverse the parking by showing the vehicle's movement trajectory in addition to displaying the rear image through the rear camera when the vehicle is back parked.

However, the conventional rear monitoring system detects only the radius of rotation of the vehicle using the steering angle data, and outputs only the expected movement trajectory on the monitor, thereby inducing parking in response to various conditions that may occur during parking. The problem is that you can't.

In addition, the conventional rear monitoring system has a problem in that parking is not guided according to various parking methods because the parking scheme supports parking guidance only for one of a right-angle parking and a parallel parking.

In addition, the conventional rear monitoring system has a problem in that even in the process of supporting parking guidance, a screen may be interrupted by a driver for limiting the screen displayed on the monitor as a marker for parking guidance.

In order to solve the above problems, the present invention provides a parking guidance device and method that can provide the parking information necessary for parking in each parking step, when any one of parallel parking or right angle parking by reverse. do.

The present invention provides an input unit for receiving at least one of a rear camera collecting a rear image of a vehicle, the collected rear image, a parking mode selected by a user, whether the vehicle is moved forward and backward, a distance from a surrounding vehicle, and a steering angle of a steering wheel. According to whether the selected parking mode is a rear parallel parking or a rear right angle parking, the parking induction process is classified according to a predetermined step, and the current position of the vehicle is to be parked in the divided step by using the information input through the input unit. A control unit for calculating parking information related to a location and a location of a surrounding vehicle, and an output unit for expressing the calculated parking information as a parking guide marker for each divided step so that the user can check the parking induction step by step. And, the control unit is in front, rear, left and right through the contact sensor of the input unit It is determined whether the contact with the surrounding vehicle, and outputs a warning message through a monitor or a speaker of the output unit in accordance with the determination result.

In the parking guidance apparatus according to the present invention, the control unit may analyze the image input from the rear camera to calculate the height of the surrounding vehicle and output the output through the output unit.

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In the parking guidance apparatus according to the present invention, the control unit may express the position of the vehicle expressed along the moving trajectory of the vehicle according to the parking information in a figure and output it through the output unit.
In another aspect, the present invention is characterized in that the parking mode selected by the user according to whether the rear parallel parking or the rear right angle parking, each step of the parking induction process according to the predetermined step, and the divided parking step selected in response to the steering angle of the steering wheel, And outputting the driving position information of the vehicle according to the steering path by the steering angle and the driving position information of the vehicle according to the forward and backward movement of the vehicle, so that the user can check the parking guidance process by the divided step. The checking may include determining whether the vehicle is in contact with surrounding vehicles in front, rear, left, and right through a contact sensor of the vehicle, outputting a warning message according to the determination result, and an object within a predetermined distance from the rear of the vehicle. And when detected, outputting a parking completion signal. It provides.

In the parking guidance method according to the present invention, when the selected parking mode is a reverse parallel parking, outputting the traveling position information along the backward path by the steering angle, outputting the traveling position of the vehicle according to the steering angle change of the vehicle; It may further include.

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In the parking guidance method according to the present invention, the outputting of the position information along the reverse path by the steering angle may further include outputting an alarm sound when detecting an object within a certain distance from the vehicle.

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According to the present invention, when any one of the parallel parking or the perpendicular parking by the reverse is performed, by providing the parking information necessary for parking in each parking step, the user can park more smoothly.

Hereinafter, the present invention will be described in detail with reference to the accompanying drawings.

1 is a diagram illustrating an internal configuration of a parking guide device according to an embodiment of the present invention.

The parking guidance apparatus according to the present invention is to allow the driver to park the vehicle while monitoring the rear using a rear camera, and may be said to be an improvement of the conventional rear monitoring system. That is, the conventional rear monitoring system simply allows the driver to monitor the rear of the vehicle, but the present invention not only allows the driver to monitor the rear when the vehicle is parked, but also the information that the vehicle moves or the steering angle of the steering wheel is changed for parking. By outputting the virtual position of the vehicle to the monitor, the user can park more smoothly.

To this end, the parking guidance device 20 according to the present invention, as shown in Figure 1, the rear camera 22 for collecting the rear image of the vehicle, input the selection information for the rear parallel parking, rear right angle parking from the user The input unit 24 for receiving, the storage unit 25 for storing various kinds of information for inducing parking, the output unit 26 for outputting the parking process as an image or an audio, and the components are controlled to provide accurate parking. It is comprised including the control part 23 for inducing.

The rear camera 22 performs a function of capturing a rear image, and various types of cameras may be used.

The input unit 24 not only functions to receive the information on the parking direction mode as described above, but may also receive input of whether the vehicle is backward or forward by interlocking with the gear of the vehicle. In addition, the input unit 24 may include an object detecting sensor to detect an object existing within a predetermined distance from the vehicle, and may include steering angle sensor connected to the steering wheel to receive steering angle information of the vehicle.

The storage unit 25 stores a variety of information for executing the parking guidance method according to the present invention.

The output unit 26 performs a function of outputting the position of the vehicle, the position to be parked, and the position and height of the surrounding vehicle, which are calculated during the parking guidance process, through the monitor. Meanwhile, the output unit 26 may include a speaker.

The controller 23 controls the components, calculates parking information for inducing parking of the vehicle, and outputs the parking information through the monitor of the output unit 26, while using the contact sensor of the input unit 24. It may be determined whether the contact with the surrounding vehicles in the output warning message through the monitor or speaker of the output.

Parking guidance device according to the present invention comprising the configuration as described above, basically outputs the rear image through the output unit (monitor), the steering image linked steering that can predict the vehicle traveling direction according to the steering angle in the output image The trajectory may be displayed, and as a comparison object, the straight anticipated driving trajectory, that is, the steering neutral driving trajectory, of the steering angle neutral state may be simultaneously displayed.

On the other hand, the parking guidance device and the parking guidance method according to the present invention, it supports both the backward perpendicular parking and the reverse parallel parking guidance method and has a feature that delivers information to the driver by dividing the parking step for each parking. In addition, the parking guidance device and the parking guidance method according to the present invention, the process of inducing parking is divided into each step, divided into three stages in the case of reverse right-angle parking, four stages in the case of reverse parallel parking By distinguishing, the driver can check the parking process at each step. In addition, the parking guidance apparatus according to the present invention has a feature that it is possible to secure the maximum of the driver's vision to recognize the rear image by simplifying the marking to support the parking in each step.

Hereinafter, the parking induction method according to the present invention, which is performed in the parking induction apparatus having the configuration as described above, is divided into a reverse parallel parking method and a reverse right angle parking method.

That is, a driver who intends to perform reverse parallel parking or reverse perpendicular parking using the parking guidance device according to the present invention selects the parking mode before parking starts, and the controller of the parking guidance device selects the parking guidance method according to the selected parking mode. Will run.

2 is a flow chart of an embodiment of a method for inducing a reverse parallel parking in the parking guidance method according to the invention. That is, it is an exemplary view showing a method of inducing reverse parallel parking by the parking guidance apparatus according to the present invention shown in FIG. 3 is an exemplary view of a screen output through the output unit when the reverse parallel parking is induced in the parking guidance method according to the present invention.

As described above, the driver who wants to park by using the parking guidance apparatus according to the present invention should select one of the reverse parallel parking and the reverse perpendicular parking before the parking starts.

In the first step when the reverse parallel parking mode is selected, the control unit 23 detects the steering angle of the steering wheel from the steering angle sensor, selects the parking space to be parked, waits for vehicle speed generation, and then the rear camera 22. In operation 202, the screen as illustrated in FIG. 3 is output through the monitor of the output unit 26 by using the image information input from the controller.

That is, the control unit 23 selects the parking space to be parked by using the steering angle of the steering wheel when the reverse parallel parking mode is selected in the stopped state and rotates the steering wheel, and then, in the image collected by the rear camera, The position 40 and the position 10 and the height 30 of the vehicle in proximity to the position to be parked are output through the monitor as shown in FIG. 3.

The second step of the reverse parallel parking mode is a process in which the control unit 23 calculates and outputs the traveling position of the vehicle while the vehicle reverses according to the selected steering angle (204). Continue with the second step until you rotate in the opposite direction. In this case, the position 40 to be parked is expressed as shown in FIG. 3, so that the driver's time can be secured to the maximum on the screen of the monitor.

That is, in the first step 202, the position 40 to be parked is expressed using only the steering angle information and the rear state while the vehicle is stopped. In the second step, the controller 23 controls the After the vehicle continuously calculates the traveling position 50 using the moving speed, the position information to be parked, the steering angle information, and the like, it is output to the monitor as a cramped shape as shown in FIG. 3.

On the other hand, if the driver changes the gear to the forward mode (D) during the progress of the second step, the controller 23 proceeds again from the first step 202, the gear is maintained in the reverse mode (R) If the handle is turned in the opposite direction, the third step is executed.

The third stage of the reverse parallel parking mode is a state in which the vehicle is reversed to the first steering angle, that is, the steering angle opposite to the steering angle proceeding in the second stage, and the control unit 23 performs the reverse speed and parking of the vehicle as in the second stage. After continuously calculating the traveling position of the vehicle using position information, steering angle information, and the like, the traveling position 50 of the vehicle is output to the monitor as a cramped figure (206).

That is, in the third stage, only the direction of the handle is changed as compared with the second stage.

In the second and third steps, the control unit 23 may output the collision warning signal through the input unit 24 and through the output unit 26 when an object within a certain distance is detected from the vehicle.

The controller 23 outputs the steering neutral and the steering interlocking driving trajectory to the monitor, thereby inducing the driver to position the vehicle at the home position, and when the steering angle is neutral, the following fourth step is performed.

The fourth step of the reverse parallel parking mode is to allow the vehicle to move forward and backward and backward at the parking position 40 to maintain a predetermined distance from the vehicle ahead or behind, and the controller 23 may space information with the rear vehicle. And by outputting the vehicle traveling position to the output unit 26, the driver can be guided to park the vehicle in the correct position.

That is, the driver who has located the vehicle at the parking position 40 in a third step close to the parking position 40 in the state where the steering wheel is not severely rotated in the fourth step, that is, the steering angle is not largely changed. It will move forward and backward and park the vehicle in position.

At this time, the control unit 23 through the input unit 24, when an object within a certain distance, for example a fence or other vehicles or protrusions from the rear of the vehicle is detected, based on this signal to inform the end of the parking output unit ( You can also output via 26).

As described above, the method of inducing the reverse parallel parking among the parking guidance method according to the present invention has four steps. In this case, the position display of the vehicle in each step may be displayed as a cramped figure as shown in Figure 3, the position of the vehicle adjacent to the position to be parked is displayed. In order for the driver to predict the height of the adjacent vehicle, the height of the adjacent vehicle is indicated by the flagpole 30 as shown in FIG. 3.

That is, the controller 23 may display the height of the other vehicle by analyzing the image of the bumper of the other vehicle recognized by the rear camera. The height display flagpole 30 of the other vehicle may be expressed by varying color or contrast in units of a predetermined length so that the driver can check the eyes directly through the monitor.

Figure 4 is a flow chart of an embodiment of a method of inducing reverse perpendicular parking in the parking guidance method according to the invention. That is, it is an exemplary view showing a method of inducing a reverse perpendicular parking by the parking guidance apparatus according to the present invention shown in FIG.

As described above, the driver who wants to park by using the parking guidance apparatus according to the present invention should select one of the reverse parallel parking and the reverse perpendicular parking before the parking starts.

In the first step when the backward right parking mode is selected, the control unit 23 detects the steering angle of the steering wheel from the steering angle detection unit, selects the parking space to be parked, waits for vehicle speed generation, and then moves from the rear camera 22. In operation 302, the screen as illustrated in FIG. 3 is output through the monitor of the output unit 26 using the input image information. However, FIG. 3 illustrates a state in reverse parallel parking. In reverse perpendicular parking mode, the parking position 40 and the position 10 of the surrounding vehicle are output in parallel, and the height 30 of the surrounding vehicle is the same. Is displayed.

That is, the control unit 23 selects a parking space to be parked by using the steering angle of the steering wheel when the backward right angle parking mode is selected and the steering wheel is rotated, and then, in the image collected through the rear camera, the controller 23 The position 40 and the position 10 and the height 30 of the vehicle near the position to be parked are output through the monitor.

The second step of the reverse perpendicular parking mode is the same as the second step of the reverse parallel parking mode, and the control unit 23 matches the expected vehicle coordinates on the screen to the parking space through the reverse according to the steering angle of the selected position. The parking is induced by using the interlocking trajectory (304). The controller 23 performs the third step when the steering angle moves to the steering neutral position.

In this case, the controller 23 may output the collision warning signal through the output unit 26 when an object within a predetermined distance from the vehicle is detected through the input unit 24.

That is, in the first stage, when the driver sets the reverse direction of the vehicle and rotates the steering wheel left or right, and proceeds backward through the second stage, when the vehicle is parallel to the parking position to some extent, the steering wheel Is maintained in a neutral (established) state, and when the handle is maintained in a neutral (established) state, the controller 23 executes a third step.

The third step of the reverse right-angle parking mode is a step in which the vehicle performs a forward and backward movement in the parking position 40 to maintain a predetermined distance from the front or rear vehicle, and the controller 23 controls the driver to the vehicle in the correct position. You may be encouraged to park at.

That is, the driver who has positioned the vehicle to the parking position 40 in a second step approximately in a state in which the steering wheel is not severely rotated in the third step, that is, the steering angle is not largely changed (this If there is no change in steering angle, the vehicle is moved forward and backward and the vehicle is parked in the correct position. At this time, the control unit 23 through the input unit 24, when an object within a certain distance, for example a fence or other vehicles or protrusions from the rear of the vehicle is detected, based on this signal to inform the end of the parking output unit ( You can also output via 26).

Comparing the reverse parallel parking and the reverse perpendicular parking, it can be seen that during the reverse parallel parking, the step 206 of outputting the vehicle traveling position according to the steering angle change is further performed.

That is, in reverse parallel parking, the vehicle rotates in the direction of the steering wheel first, and when the vehicle enters the parking position to some extent, the vehicle reverses in the state in which the steering wheel is reversed in the opposite direction. Similarly, the third step is required, but when the vehicle is in a reverse right-side parking direction, the vehicle rotates in the direction of the steering wheel first, and when the vehicle enters the parking position to some extent, the steering wheel is changed to the neutral position and then minutely left and right. The vehicle is parked in the parking position while the vehicle is reversed or advanced by using only the rotation. In detail, the reverse orthogonal parking is composed of three steps as described above, and the third step of the reverse orthogonal parking and the fourth step of the reverse parallel parking maintain the same conditions. It is simplified to help the driver understand easily.

The present invention as described above, while the driver in the reverse parallel parking or reverse perpendicular parking, the parking process is classified step by step, while using the parking guide line (vehicle location 50 and parking position 40) smoothly As a guide to parking, the steering angle information is input from the steering angle sensor of the vehicle, and the parking position of the vehicle is supported by providing the driver with location information and surrounding information about the parking space based on the steering angle information.

Those skilled in the art will appreciate that various changes and modifications can be made without departing from the technical spirit of the present invention. Therefore, the technical scope of the present invention should not be limited to the contents described in the detailed description of the specification, but should be defined by the claims.

1 is an internal configuration diagram of an embodiment of a parking induction apparatus according to the present invention.

Figure 2 is a flow diagram of an embodiment of a method of inducing a reverse parallel parking in the parking guidance method according to the invention.

3 is an exemplary view of a screen output through the output unit when the reverse parallel parking is induced in the parking guidance method according to the invention.

Figure 4 is a flow diagram of an embodiment of a method of inducing reverse perpendicular parking in the parking guidance method according to the invention.

Claims (8)

A rear camera collecting a rear image of the vehicle; An input unit configured to receive at least one of the collected rear image, a parking mode selected by a user, whether the vehicle is moved forward and backward, a distance from a surrounding vehicle, and a steering angle of a steering wheel; According to whether the selected parking mode is a rear parallel parking or a rear right parking, the parking guidance process is divided according to a predetermined step, and the current position of the vehicle and the position to park the car are divided by the information input through the input unit. And a controller configured to calculate parking information related to a location of a surrounding vehicle. And  And displaying an output of the calculated parking information as a parking guidance marker for each divided step, so that the user can check the parking guidance process for each divided step. The control unit Judging whether the vehicle is in contact with surrounding vehicles in front, rear, left, and right through a contact sensor of the input unit, and outputting a warning message through a monitor or a speaker of the output unit according to the determination result. Parking guidance device. The method of claim 1, wherein the control unit, The parking guidance apparatus for analyzing the image input from the rear camera to calculate the height of the surrounding vehicle to output through the output unit. delete The method of claim 1, wherein the control unit, The parking guidance apparatus according to the parking information to represent the position of the vehicle represented along the movement trajectory of the vehicle in a figure to output through the output unit. Dividing the parking guidance process in predetermined steps according to whether the parking mode selected by the user is a rear parallel parking or a rear right parking; And The user is classified by outputting the parking space selected according to the steering angle of the steering wheel in the divided step, the progress position information of the vehicle according to the backward path by the steering angle, and the progress position information of the vehicle according to the forward and backward movement of the vehicle. Including a step-by-step guide to checking the parking guidance process, The step of confirming, Determining whether the vehicle is in contact with surrounding vehicles in front, rear, left, and right through a contact sensor of the vehicle and outputting a warning message according to the determination result; And Outputting a parking completion signal when an object within a predetermined distance from the rear of the vehicle is detected; Parking induction method. The method of claim 5, wherein the outputting of the traveling position information of the vehicle comprises: If the selected parking mode is a reverse parallel parking, outputting a traveling position of the vehicle according to the steering angle change of the vehicle; Parking induction method. The method of claim 5, wherein the outputting of the traveling position information of the vehicle comprises: Outputting an alarm sound when an object within a certain distance is detected from the vehicle; Parking induction method. delete

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