KR101251729B1 - Method and Apparatus for Controlling Parking - Google Patents

Abstract

The present invention relates to a parking control method and an apparatus thereof.

The present invention provides a parking space recognizing unit for providing a user terminal with an image photographed for a parking space indicated by a total parking zone display through a camera; A seed point information receiver configured to receive indication information about two seed points at both sides of an entrance of a parking space from a user terminal; A bird's-eye view generation unit for generating two bird's-eye views including two seed points to a predefined size based on the indication information on the two seed points; A parking section display pattern recognition unit performing pattern recognition based on images of two bird's-eye views, and recognizing pattern types for two parking zone displays included in the two bird's-eye views; A target parking position setting unit for setting a target parking position based on the pattern types recognized for the two parking compartment marks; And a parking control unit controlling a parking of the own vehicle based on the target parking position.

According to the present invention, by using the pattern recognition technology, by recognizing the pattern type for the parking section indication that can be various types and adaptively accurately set the target parking position, the effect of providing a parking control device for performing the parking control There is.

Target parking location, seed point

Description

Parking control method and apparatus therefor {Method and Apparatus for Controlling Parking}

The present invention relates to a parking control method and an apparatus thereof. More specifically, the present invention relates to a parking control method and apparatus for performing parking control by accurately setting a target parking position adaptively to a parking section indication that can be various kinds.

An automatic or semi-automatic parking assistance system is a system for providing a driver's convenience for parking by automating the steering operation required for the parking process. As drivers are very interested in such parking assistance systems, major car manufacturers and component companies are developing various types of parking assistance systems.

In the case of parking using such a parking assistance system, it is essential to set a target parking position to be parked first and foremost, and the performance of the parking control depends on the accuracy of the target parking position setting. Therefore, many automobile manufacturers and parts companies are continuously researching how to set a target parking position for parking.

As a method of setting the target parking position, a user interface based method in which the driver directly sets the target parking position in the surrounding image of the vehicle, and automatically recognizes the parking section indication in the surrounding image of the vehicle to determine the target parking position. Parking Slot Marking Based Method to be set, Free Space Between Parked Vehicles Based Method to set empty parking space between two parked vehicles as target parking location, GPS system : Infrastructure Based Method, which recognizes empty parking spaces using Global Positioning System and Digital Map, has been developed and used.

Here, in the parking compartment display-based method, when the driver selects a location where the driver wants to park in one image, that is, one spot, in the image acquired by using the camera of the vehicle, the apparatus for setting the target parking position is selected. There is a method of setting the target parking position based on parking section display using one touch to automatically set the target parking position using the NN.

However, in the conventional method of setting the target parking position based on the parking segment display using one touch, the target parking position is set because the process of compensating the fisheye lens and generating the bird's eye view is performed for the entire image acquired from the camera. There is a problem that the amount of computation of the device increases a lot, thereby increasing the memory usage and increasing the load of the computation processor.

On the other hand, the types of parking compartment markings displayed on the parking space can be of various types, such as box type, tilted box type, box type with different depths, parallelograms, and elliptical shapes. However, in the conventional target parking position setting method, there is a problem in that the target parking position cannot be adaptively set with respect to the parking section indication which may be various kinds.

Particularly, among these various parking zone markings, there are 11 types of parking compartment markings in which the parking compartment and the road are not separated by a straight line. In the case of the parking compartment marking in which the parking compartment and the road are not separated by a straight line, In the conventional target parking position setting method, there is a problem in that the target parking position cannot be accurately set.

SUMMARY OF THE INVENTION In order to solve the above problems, an object of the present invention is to provide a parking control apparatus for performing parking control by accurately setting a target parking position adaptively with respect to a parking section indication which may be various kinds.

In addition, another object of the present invention is to provide a parking control apparatus for performing parking control by accurately setting a target parking position even in the case of parking zone display of other forms in which the parking compartment and the road are not separated by a straight line.

In addition, another object of the present invention is to provide a parking control apparatus that can reduce the amount of calculation to set the target parking position to reduce the memory usage and to reduce the load of the calculation processor.

In order to achieve the above object, the present invention provides a parking space recognition unit for providing an image taken to the user terminal with respect to the parking space displayed in the entire parking zone display through the camera; A seed point information receiver configured to receive indication information on two seed points at both sides of the entrance of the parking space from the user terminal; A bird's-eye view generating unit for generating two bird's-eye views including the two seed points to a predefined size based on the indication information on the two seed points; A parking section display pattern recognizing unit configured to recognize patterns based on the images of the two bird's-eye views and recognize pattern types for the two parking section displays included in the two bird's-eye views; A target parking position setting unit for setting a target parking position based on the pattern type recognized for the two parking compartment marks; And a parking control unit controlling a parking of the own vehicle based on the target parking position.

In addition, the present invention, a parking space recognition step of providing a user terminal with an image taken for the parking space displayed in the entire parking zone display through the camera; Receiving seed point information for receiving indication information on two seed points at both sides of the entrance of the parking space from the user terminal; A bird's-eye view generating step of generating two bird's-eye views including the two seed points to a predefined size based on the indication information on the two seed points; A parking segment display pattern recognizing step of performing pattern recognition based on the images of the two bird's-eye views, and recognizing a pattern type for two parking compartment marks included in the two bird's-eye views; A target parking position setting step of setting a target parking position based on the pattern type recognized for the two parking compartment marks; And a parking control step of controlling the parking of the own vehicle based on the target parking position.

As described above, according to the present invention, by using the pattern recognition technology, by recognizing the pattern type for the parking section indication that can be various types and adaptively accurately setting the target parking position, parking control to perform the parking control There is an effect to provide a device.

In addition, according to the present invention, even in the case of the parking section display of the other forms where the parking section and the road are not separated by a straight line, by using the pattern recognition technology, the parking section display is correctly recognized and the target parking position is set correctly, There is an effect of providing a parking control device for performing the control.

In addition, according to the present invention, there is an effect of providing a parking control device that can reduce the amount of calculation to set the target parking position to reduce the memory usage and lower the load of the calculation processor.

Hereinafter, some embodiments of the present invention will be described in detail with reference to exemplary drawings. In adding reference numerals to the components of each drawing, it should be noted that the same reference numerals are assigned to the same components as much as possible even though they are shown in different drawings. In the following description of the present invention, a detailed description of known functions and configurations incorporated herein will be omitted when it may make the subject matter of the present invention rather unclear.

In addition, in describing the component of this invention, terms, such as 1st, 2nd, A, B, (a), (b), can be used. These terms are intended to distinguish the constituent elements from other constituent elements, and the terms do not limit the nature, order or order of the constituent elements. When a component is described as being "connected", "coupled", or "connected" to another component, the component may be directly connected to or connected to the other component, It should be understood that an element may be "connected," "coupled," or "connected."

1 is a schematic block diagram of a parking control apparatus 100 according to an embodiment of the present invention.

Referring to FIG. 1, the parking control apparatus 100 according to an embodiment of the present invention may be divided into a “parking zone indication” displayed through a camera 11 mounted on one side or the other side of a vehicle. A parking space recognition unit 110 for photographing and recognizing an image; Both sides of the entrance to the parking space in the captured image are pointed out by the user, and the "parking zone mark" (hereinafter referred to as "seed point") is indicated by using the two points (hereinafter referred to as "seed point"). Target parking position setting management unit 120 for recognizing a pattern type and / or a pattern position of a parking compartment display around two seed points and setting a target parking position; And a parking controller 130 that controls parking for the own vehicle based on the set target parking position.

The image captured by the camera 11 in the parking space recognition unit 110 is provided to the user terminal 10 and displayed on the touch screen, and the user views an image of the parking space displayed on the user terminal 10, Pointing to two seed points on both sides of the entrance of the parking space to be parked through the touch screen of the user terminal 10, the target parking position setting management unit 120 to the two seed points indicated by the user Receive the indication information about.

The target parking position setting management unit 120 automatically controls the parking control by recognizing a pattern for parking zone indications around two seeding points among all parking zone indications displayed in the parking space based on the received two seeding points. Set the target parking position. This may facilitate parking control and ultimately further enhance driver comfort.

Here, the total parking compartment display may be one of a box type, a box type, a box having a different depth, a parallelogram, and an 11-character type.

In addition, the parking zone mark around the two seed points indicated by the user through the image of the parking space in which the entire parking zone mark is indicated can represent the type of the entire parking zone mark as a straight line that forms the entire parking zone mark. It may be an indication of the parking area around the junction of. Therefore, the parking zone mark around the two seed points recognized for the target parking position setting and pointed out by the user is also referred to as an intersection point.

The target parking position setting management unit 120 automatically recognizes the pattern for the parking section display around the two seed points, so that the image captured by the camera 11 and the two seed points pointed to the image are displayed. Based on the indication information, a bird's-eye view is generated around two seed points, and a pattern recognition technique such as neural network approach is used to generate a parking zone mark around two seed points shown in the two bird's-eye views. Automatically recognize pattern type.

The target parking position setting manager 120 sets the target parking position for the parking control based on the pattern type of the parking section indication automatically recognized.

The parking control unit 130 sets a parking path using the target parking position thus set and controls parking of the own vehicle accordingly. In this case, the parking controller 130 uses various information detected through the vehicle sensor 14 such as a wheel speed sensor, a steering angle sensor, a yaw rate sensor, and an acceleration sensor during parking control. In addition, the parking control unit 130 transmits a steering angle command to the steering device 12, thereby allowing the steering device 12 to control the parking of the own vehicle.

When the parking control unit 130 performs the parking control by controlling only the steering device 12 through the steering angle command, the parking control device 100 is a control device for the semi-automatic parking assistance system, and the parking control unit 130 controls the steering angle command and When both the steering apparatus 12 and the braking apparatus 13 are controlled by the braking command to perform the parking control, the parking control apparatus may be a control apparatus for the automatic parking assistance system.

However, the above-described target parking position setting management unit 120 may be implemented as a separate device from the parking control device 100 to perform a function of setting the target parking position.

The above-described parking control apparatus 100, the target parking position setting manager 120, the parking controller 130, and the like included in the above will be described in more detail with reference to FIG. 2.

2 is a detailed block diagram of the parking control device 100 according to an embodiment of the present invention.

Referring to FIG. 2, the parking control apparatus 100 according to an exemplary embodiment of the present invention provides a user terminal 10 with an image captured for a parking space indicated by the entire parking zone display through the camera 11. Parking space recognition unit 110; A seed point information receiver 210 for receiving indication information on two seed points at both sides of the entrance of the parking space from the user terminal 10; A bird's eye view generation unit 220 for generating two bird's-eye views including two seed points to a predefined size based on the indication information on the two seed points; A parking section display pattern recognition unit 230 performing pattern recognition based on images of two bird's-eye views, and recognizing pattern types for two parking zone displays included in the two bird's-eye views; A target parking position setting unit 240 for setting a target parking position based on the pattern types recognized for the two parking compartment marks; And a parking controller 130 for controlling parking of the own vehicle based on the target parking position.

However, the seed point information receiving unit 210, the bird's eye view generating unit 220, the parking section display pattern recognition unit 230 and the target parking position setting unit 240 mentioned above are the target parking position setting management unit 120 in FIG. ) Is included in the configuration.

The parking control device 100 according to the present invention can be driven when the operation of the reverse gear is recognized or when a drive switch for driving the parking control device 100 is input. When the driving of the parking control device 100 starts when the operation of the reverse (R) gear is recognized, the rear parking is controlled.

The image provided to the user terminal 10 by the parking space recognition unit 110 is an image photographed for the parking space through the camera 11 mounted on one side or the other side of the vehicle (vehicle). As an example, when the camera 11 is mounted at the rear of the vehicle (vehicle), the operation of the reverse gear is recognized and the driving of the parking control apparatus 100 is started so that the parking space at the rear is displayed as an image. Is photographed. At this time, control for rear parking is performed. On the other hand, when the camera 11 can be mounted in front of the vehicle (vehicle), the driving of the parking control device 100 can be started according to the input of the drive switch to control the front parking.

As such, through the camera 11 mounted on one side or the other side of the vehicle (vehicle), the parking space recognition unit 110 captures an image of the parking space in which the entire parking zone is displayed and displays the captured image of the user terminal. Provided by (10). Here, the entire parking zone display displayed in the parking space is a box type (Fig. 4 (a)), a tilted box type (Fig. 4 ( b)), one of a different box type (Fig. 4 (c)), parallelogram (Fig. 4 (d)) and 11-shaped (Fig. 4 (e)) and the like can be one.

The image provided to the user terminal 10 is displayed on the touch screen of the user terminal 10, the user sees the image of the parking space displayed on the user terminal 10, the parking through the touch screen of the user terminal 10 Pointing to two seed points (Seed Point) at both sides of the entrance of the parking space to be desired, the seed point information receiving unit 210 receives the indication information for the two seed points indicated by the user.

3, the image 300 captured by the parking space recognition unit 110 is provided to the user terminal 10 and displayed on the touch screen. Through the image displayed on the touch screen of the user terminal 10, the user points out the two seed points 310 and 320 at both sides of the entrance of the parking space. The indication information about the two seed points 310 and 320 pointed out as described above is transferred from the user terminal 10 to the seed point information receiving unit 210. Instruction information on the two seed points transmitted to the seed point information receiver 210 is transmitted to the bird's-eye view generation unit 220 together with the image photographed through the camera 11, and the bird's eye view has a predetermined size based on the two seed points. Is generated.

The parking zone display pattern recognition unit 230 detects the parking zone display shown in the bird's-eye view based on the bird's-eye view generated based on each of the two seed points, and recognizes the pattern type of the detected parking zone display using a pattern recognition technique. do.

As an example, the parking lot display pattern recognition unit 230 performs pattern recognition through the "neural network classifier" based on the images of the two bird's-eye views, and includes the "pattern type for two parking lot marks" included in the two bird's-eye views. "Recognize.

More specifically, the parking compartment display pattern recognition unit 230 generates and stores learning data for various types of parking compartment display in advance through neural network learning, and based on the stored learning data, through the neural network classifier, By classifying the two parking zone marks into one of several kinds of parking zone marks, the pattern type for the two parking zone marks included in the two bird's eye view is recognized.

In accordance with the above-described manner, the pattern types for the two parking compartment marks recognized by the parking compartment mark pattern recognition unit 230 are exemplarily shown in FIG. 5. The pattern type for the parking segment display (included in the bird's eye view) that is illustrated by way of example in FIG. 5 and that can be recognized by the parking segment display pattern recognition unit 230 is shown in FIG. 4. It is a kind of parking area mark near both points of the entrance of the parking space that the user can point out as a seed point, and it is a parking area mark necessary for setting the target parking position. By recognizing the pattern type for the parking segment indication included in the bird's eye view, it is possible to estimate the type of the overall parking segment indication. There may be more pattern types than the eight illustrated in FIG. 5 for the pattern of parking segment included in the bird's eye view, which may be accumulated and classified through neural network learning.

In addition to the "pattern type recognized for the two parking zone displays" included in the two bird's eye views, the above-described parking zone display pattern recognition unit 230 includes "pattern positions for two parking zone marks" included in the two bird's-eye views. "Can be recognized based on a distance transform (DT), and thus, the target parking position setting unit 240 recognizes the pattern type and the pattern position for the two parking zone marks included in the two bird's eye view. Based on this, the target parking position can be set.

The above-described parking zone display pattern recognition unit 230 recognizes "pattern positions for two parking zone displays" included in the two bird's-eye views based on a distance transform (DT). More specifically, by clustering the image of the two bird's eye view into a plurality of clusters (Cluster) according to the contrast, and extracting the group with the brightest light intensity among the plurality of groups as two parking zone display to perform binarization Skeleton of the two parking compartment marks is obtained, distance transform (DT) is obtained for the acquired skeleton, and two parking compartments are obtained through template matching for the acquired distance transformation. It is possible to recognize the pattern position for the indication. At this time, in a situation in which it is difficult to recognize by a syntactic pattern recognition technology, a genetic algorithm may be used to minimize the error between the distance conversion for the parking compartment marking and the parking compartment marking template.

The pattern recognition result of the two parking zone display through the above-described parking zone display pattern recognition unit 230 is shown in FIG. 6A, FIG. 6B, FIG. 6C, and FIG. 6. d), by way of example in Figures 6 (e) and 6 (f).

FIG. 6 (a) is a diagram showing a recognition result for the parking section display near the seed point when the total parking section display is a box type (rectangular). Referring to FIG. 6, FIG. The two images 611 and 612 represent the bird's eye view near the left and right two seed points at the entrance to the parking space, respectively, and the two images 613 and 614 in the second row are the images of the pattern recognition result through the neural network approach. The two images 615 and 616 in the third row are images of the result finally recognized by the parking section display pattern recognition unit 230. 6 (b), 6 (c), 6 (d), 6 (e) and 6 (f) which show different pattern types from those of FIG. It is the same as the description of FIG.

The target parking position setting unit 240 sets the target parking position on the basis of the pattern type and the pattern position recognized for the two parking compartment marks included in the two bird's-eye views, but as an example of the setting method. Project the specific point included in one parking segment mark out of the two parking segment marks to the extension of the other parking segment mark in the two parking segment marks, and then straight from the center of the straight line connecting the point projected from the specific point. You can set the target parking position on the normal to orthogonal to.

The above-described target parking position setting method is exemplarily described again with reference to FIGS. 7 and 8.

Referring to FIG. 7, a target parking position setting management unit of the parking control apparatus 100 may be provided by providing the user terminal 10 with an image 700 photographing a parking space in which all parking zones having different box shapes having different depths are displayed. 120 receives the indication information on the two seed points 711 and 721 indicated by the user and sets the target parking position based on the indication information. At this time, by using a pattern recognition technology, two parking zone marks 710 and 720 near the two seed points 711 and 721 are recognized, thereby parking one of the two parking zone marks 710 and 720 recognized. A specific point (for example, seed point 711) included in the partition mark 710 is projected on an extension line of another parking segment mark 720 among the two parking lot marks 710 and 720, and the specific point (eg seed point 711). ) And a target parking position may be set on a normal 750 orthogonal to the straight line 730 at the center 740 of the straight line 730 connecting the point where the specific point is projected (for example, the seed point 721).

In contrast to FIG. 7, in FIG. 8, the target parking of the parking control apparatus 100 is provided by providing the user terminal 10 with an image 800 photographing a parking space in which the entire parking section of the parallelogram is displayed. The location setting manager 120 receives the instruction information for the two seed points 811 and 821 pointed out by the user, and sets the target parking position based on the indication information. At this time, by using the pattern recognition technology, the two parking zone indications 810 and 820 near the two seed points 811 and 821 are recognized, so that one of the two parking zone indications 810 and 820 is recognized. A specific point (for example, seed point 811) included in the partition mark 810 is projected onto an extension line of another parking compartment mark 820 among the two parking compartment marks 810 and 820, and the specific point (for example, seed point 811). ) And a target parking position on a normal 850 perpendicular to the straight line 830 at the center 840 of the straight line 830 connecting the point where the specific point is projected (for example, the point 822).

After the target parking position is set according to the above-described method, the parking controller 130 performs the parking control based on the set target parking position. In this case, the vehicle including the parking control apparatus 100 needs to recognize a position of an object or a vehicle in the vicinity of a parking space to be parked. For this purpose, the parking space recognition unit 110 may capture a captured image. Recognize the relative position of the object or the vehicle in the vicinity of the parking space with respect to the host vehicle.

The above-described parking controller 130 may include a relative position (relative position of an object or a vehicle in the periphery of the parking space with respect to the own vehicle), a wheel speed sensor, a steering angle sensor, and a yaw rate recognized by the parking space recognition unit 110. (Yaw Rate) based on the various information detected through the vehicle sensor 14, such as acceleration sensor, and the target parking position set by the target parking position setting management unit 120, the parking path is set accordingly By controlling the steering apparatus 12 to be parked while tracking the parking path, parking control can be performed.

The parking controller 130 generates a parking path to the target parking position based on the relative position (relative position of the object or the vehicle in the vicinity of the parking space with respect to the own vehicle) recognized by the parking space recognition unit 110. A route plan generator 250; A vehicle position estimator 270 estimating a position of the host vehicle using the vehicle sensor 14; And a parking path tracking unit 260 for controlling the steering apparatus 12 so that the own vehicle tracks the parking path by using the estimated position with respect to the own vehicle.

The parking control method provided by the parking control apparatus 100 according to the exemplary embodiment of the present invention described above will be described with reference to the flowchart in FIG. 9.

FIG. 9 is a flowchart illustrating a parking control method according to an embodiment of the present invention. Referring to FIG. 9, the parking control method according to an embodiment of the present invention is indicated by the entire parking zone display through the camera 11. A parking space recognition step of providing a captured image of the parking space to the user terminal 10 (S900); Seed point information receiving step (S902) for receiving the indication information for the two seed points (Seed Point) at both sides of the entrance of the parking space from the user terminal (10); A bird's-eye view generating step (S904) of generating two bird's-eye views including two seed points to a predefined size based on the indication information for the two seed points; Parking segment display pattern recognition step (S906) of performing a pattern recognition based on the image of the two bird's eye view, to recognize the pattern type for the two parking segment display included in the two bird's eye view (S906); A target parking position setting step (S908) of setting a target parking position based on the pattern types recognized for the two parking compartment marks; And a parking control step (S910) for controlling the parking of the own vehicle based on the target parking position.

The pattern recognition mentioned above may be a pattern recognition technique through neural network learning.

As described above, according to the present invention, by using the pattern recognition technology, by recognizing the pattern type for the parking section indication that can be various types and adaptively accurately setting the target parking position, parking to perform the parking control There is an effect of providing the control device 100 and its method.

In addition, according to the present invention, even in the case of the parking section display of the other forms where the parking section and the road are not separated by a straight line, by using the pattern recognition technology, the parking section display is correctly recognized and the target parking position is set correctly, There is an effect of providing the parking control device 100 and the method for performing the control.

In addition, according to the present invention, there is an effect to provide a parking control device 100 and the method that can reduce the amount of calculation to set the target parking position to reduce the memory usage and lower the load of the calculation processor.

While the present invention has been described in connection with what is presently considered to be the most practical and preferred embodiments, it is to be understood that the invention is not limited to the disclosed embodiments. In other words, within the scope of the present invention, all of the components may be selectively operated in combination with one or more. In addition, although all of the components may be implemented as one independent hardware, some or all of the components may be selectively combined to perform a part or all of the functions in one or a plurality of hardware. As shown in FIG. Codes and code segments constituting the computer program may be easily inferred by those skilled in the art. Such a computer program may be stored in a computer readable storage medium and read and executed by a computer, thereby implementing embodiments of the present invention. As the storage medium of the computer program, a magnetic recording medium, an optical recording medium, a carrier wave medium, or the like may be included.

It is also to be understood that the terms such as " comprises, "" comprising," or "having ", as used herein, mean that a component can be implanted unless specifically stated to the contrary. But should be construed as including other elements. All terms, including technical and scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs, unless otherwise defined. Commonly used terms, such as predefined terms, should be interpreted to be consistent with the contextual meanings of the related art, and are not to be construed as ideal or overly formal, unless expressly defined to the contrary.

The foregoing description is merely illustrative of the technical idea of the present invention, and various changes and modifications may be made by those skilled in the art without departing from the essential characteristics of the present invention. Therefore, the embodiments disclosed in the present invention are intended to illustrate rather than limit the scope of the present invention, and the scope of the technical idea of the present invention is not limited by these embodiments. The protection scope of the present invention should be interpreted by the following claims, and all technical ideas within the equivalent scope should be interpreted as being included in the scope of the present invention.

1 is a schematic block diagram of a parking control device according to an embodiment of the present invention;

2 is a detailed block diagram of a parking control apparatus according to an embodiment of the present invention;

3 is a diagram illustrating an example of displaying a seed point instructed by a driver on an image;

4 is a view showing the type of the total parking zone display displayed in the parking space by way of example,

5 is a view showing a pattern type for the parking section display by way of example,

FIG. 6 is a view showing a bird's eye view generated for each pattern type for parking zone display and a result of pattern recognition therefor; FIG.

7 is an exemplary view for explaining a setting for a target parking position;

8 is another exemplary diagram for setting a setting for a target parking position;

9 is a flowchart illustrating a parking control method according to an embodiment of the present invention.

Description of the Related Art

10: user terminal

11: camera

100: parking control device

110: parking space recognition unit

120: target parking position setting management unit

130: parking control unit

210: seed point information receiving unit

220: bird's eye view generation unit

230: parking section display pattern recognition unit

240: target parking position setting unit

250: route planning generator

260: parking path tracking unit

270: vehicle position estimation unit

Claims (10)

A parking space recognizing unit which provides an image photographed to the user terminal with respect to the parking space indicated by the total parking zone display through the camera; A seed point information receiver configured to receive indication information on two seed points at both sides of the entrance of the parking space from the user terminal; A bird's-eye view generating unit for generating two bird's-eye views including the two seed points to a predefined size based on the indication information on the two seed points; A parking section display pattern recognizing unit configured to recognize patterns based on the images of the two bird's-eye views and recognize pattern types for the two parking section displays included in the two bird's-eye views; A target parking position setting unit for setting a target parking position based on the pattern type recognized for the two parking compartment marks; And Includes a parking control unit for controlling the parking of the own vehicle based on the target parking position, The parking section display pattern recognition unit, Through neural network learning, the training data for various types of parking zone markings is generated and stored in advance. Based on the stored learning data, the neural network classifier classifies the two parking segment marks into one of the various types of parking segment marks, Parking control device, characterized in that for recognizing the pattern type for the two parking zone display. The method of claim 1, And when the operation of the reverse gear is recognized or when a drive switch for driving the parking control device is input, the parking control device starts to be driven. The method of claim 1, The image is a parking control device, characterized in that the image taken with respect to the parking space through the camera mounted on one side or the other side of the vehicle. delete delete A parking space recognizing unit which provides an image photographed to the user terminal with respect to the parking space indicated by the total parking zone display through the camera; A seed point information receiver configured to receive indication information on two seed points at both sides of the entrance of the parking space from the user terminal; A bird's-eye view generating unit for generating two bird's-eye views including the two seed points to a predefined size based on the indication information on the two seed points; A parking section display pattern recognizing unit configured to recognize patterns based on the images of the two bird's-eye views and recognize pattern types for the two parking section displays included in the two bird's-eye views; A target parking position setting unit for setting a target parking position based on the pattern type recognized for the two parking compartment marks; And Includes a parking control unit for controlling the parking of the own vehicle based on the target parking position, The parking section display pattern recognition unit, In addition to the pattern types recognized for the two parking segment marks, the pattern positions for the two parking segment marks are recognized based on distance transformation, The target parking position setting unit, Based on the pattern type and the pattern position recognized for the two parking compartment marks, a specific point included in one parking compartment mark of the two parking compartment marks is determined by the other parking compartment mark among the two parking compartment marks. Project onto an extension line, And the target parking position on a normal line orthogonal to the straight line at the center of the straight line connecting the specific point and the projected point. The method according to claim 6, The parking section display pattern recognition unit, Clustering the images of the two bird's-eye view into a plurality of clusters (Cluster) according to the contrast, and extracting the group with the brightest contrast among the plurality of groups as the two parking zone display to perform the binarization 2 Obtaining a skeleton of the parking segment indications, obtaining a distance transform (DT) for the obtained skeleton, and performing two parking through template matching for the obtained distance transform Parking control device characterized in that for recognizing the position of the pattern with respect to the partition display. delete 7. The method according to claim 1 or 6, The parking space recognition unit, Recognizing the relative position of the object or the vehicle in the vicinity of the parking space with respect to the host vehicle using the captured image, The parking control unit, A route plan generator for generating a parking route to the target parking position based on the relative position; A vehicle position estimator for estimating a position of the host vehicle using a vehicle sensor; And A parking path tracking unit for controlling a steering device so that the own vehicle tracks the parking path using the estimated position with respect to the own vehicle Parking control device comprising a. A parking space recognition step of providing an image photographed to the user terminal with respect to the parking space indicated by the total parking zone display through the camera; Receiving seed point information for receiving indication information on two seed points at both sides of the entrance of the parking space from the user terminal; A bird's-eye view generating step of generating two bird's-eye views including the two seed points to a predefined size based on the indication information on the two seed points; A parking segment display pattern recognizing step of performing pattern recognition based on the images of the two bird's-eye views, and recognizing a pattern type for two parking compartment marks included in the two bird's-eye views; A target parking position setting step of setting a target parking position based on the pattern type recognized for the two parking compartment marks; And Parking control step of controlling the parking of the own vehicle based on the target parking position, The parking section display pattern recognition step, In addition to the pattern types recognized for the two parking segment marks, the pattern positions for the two parking segment marks are recognized based on distance transformation, The target parking position setting step, Based on the pattern type and the pattern position recognized for the two parking compartment marks, a specific point included in one parking compartment mark of the two parking compartment marks is determined by the other parking compartment mark among the two parking compartment marks. Project onto an extension line, And setting the target parking position on a normal line orthogonal to the straight line at the center of a straight line connecting the specific point and the projected point.

Images