KR101283766B1 - Right Angled Parking Method and Parking Assist Apparatus Using The Same - Google Patents

Abstract

The present invention relates to a right angle parking control method and apparatus.

The present invention is a parking space recognition unit for recognizing the obstacle located on the side of the vehicle by using a sensor, the parking space and the road width recognition; A parking path acquisition unit for obtaining a four-turn parking path including four turning paths based on the information on the parking space and the road width; And a parking controller configured to control reverse right angle parking for the vehicle according to the calculated four-turn parking path.

According to the present invention, a collision avoidance path including four turning paths is calculated as a parking path, so that the vehicle can park in a parking space by avoiding the surrounding obstacle even in a fairly narrow space, and moves according to the calculated parking path. By steering the vehicle automatically to park, there is an effect of safely controlling the parking of the vehicle.

Parking spaces, turning paths

Description

Right Angled Parking Method and Parking Assist Apparatus Using The Same}

The present invention relates to a right angle parking control method and apparatus. More specifically, the collision avoidance path is calculated as a parking path so that the vehicle can park in the parking space by avoiding the obstacles in a fairly narrow space, and the vehicle is automatically moved to park according to the calculated parking path. Orthogonal parking control method and apparatus for safely controlling the parking of the vehicle by steering.

Recently, vehicles such as automobiles are becoming a necessity of modern man, and new vehicles are rapidly released and operated, resulting in various social problems such as traffic jams and parking problems.

In particular, the parking problem is serious, and as the number of vehicles increases in limited regions, cities, and countries, parking spaces are inevitably reduced, and parking is divided so that one vehicle can park to solve the shortage of parking spaces. The compartments are getting narrower.

In addition, when multiple vehicles park together in a parking space without a parking compartment, the distance between the vehicles must be narrow.In this case, the driver checks the surrounding obstacles with the naked eye and drives the vehicle directly to park in a narrow parking space or narrow the space. There is a problem that it is difficult to leave the vehicle in the parking space.

Therefore, the automatic parking control technology that calculates the collision avoidance path as the parking path so that the vehicle can park in the parking space by avoiding the surrounding obstacles, and automatically steers the vehicle to move and park according to the calculated parking path Developed. However, since the automatic parking control technology calculates a parking path including two turning paths, if the space in which the vehicle rotates for the two turning paths is very narrow, it may not be possible to park without collision with an obstacle. have.

In order to solve the above-mentioned problem, the present invention calculates a collision avoidance path including four turning paths as a parking path, so that a vehicle can park in a parking space by avoiding the surrounding obstacle even in a fairly narrow space. It is to safely control the parking of the vehicle by steering the vehicle automatically so that the vehicle can park along the parking path.

In order to achieve the above object, the present invention, by using a sensor to detect the obstacle located on the side of the vehicle, parking space recognition unit for recognizing the parking space and the road width; A parking path obtaining unit obtaining a fourth turn parking path including four turning paths based on the parking space and the road width information; And it provides a right angle parking control device comprising a parking control unit for controlling the backward right angle parking for the vehicle according to the calculated four-turn parking path.

In addition, the present invention, (a) by detecting the obstacle located on the side of the vehicle by using a sensor, the parking space recognition step of recognizing the parking space and the road width; (b) a parking path obtaining step of obtaining a four-turn parking path including four turning paths based on the parking space and the road width information; And (c) a parking control step of controlling backward perpendicular parking for the vehicle according to the calculated four-turn parking path.

As described above, according to the present invention, the collision avoidance path including four turning paths is calculated as the parking path so that the vehicle can park in the parking space by avoiding the surrounding obstacle even in a fairly narrow space, and the parking thus calculated There is an effect of safely controlling the parking of the vehicle by automatically steering the vehicle to move along the path and park.

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 describing the components of the present invention, terms such as first, second, A, B, (a), and (b) may 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 block diagram of a right angle parking control apparatus 100 according to an embodiment of the present invention.

1, the right angle parking control apparatus 100 according to an embodiment of the present invention, by detecting an obstacle located on the side of the vehicle by using a sensor, the parking space recognition unit for recognizing the parking space and the road width ( 110); A parking path obtaining unit 120 for obtaining a four-turn parking path including four turning paths based on the recognized parking space and the road width information; And a parking control unit 130 for controlling backward perpendicular parking for the vehicle according to the calculated four-turn parking path.

The above-described parking space recognition unit 110 detects the parking space and the road width while detecting an obstacle located on the side of the vehicle while advancing in the traveling direction of the vehicle by using a sensor such as an ultrasonic sensor. After recognizing the parking space and the road width in this way, the parking path acquisition unit 120 obtains a four-turn parking path including four turning paths. After that, the parking control unit 130 reverses the vehicle to the initial position P ₀ , which is the starting point of the first turning route, among the four turning routes obtained, and includes four turning routes from the initial position P ₀ . The parking control of the vehicle is performed along the four-turn parking path.

The above-described parking space recognition unit 110 recognizes the positions of two corner points C ₁ and C ₂ with respect to two obstacles located on one side of the vehicle located in the traveling direction on the road. Then, the distance of the recognized two corner points (C ₁ , C ₂ ) is measured by the parking space width (W), and the two corner points (C ₁ , C ₂ ) based on the measured parking space width (W). By determining the parking space depth D, which is the distance from the connecting line to the target position P ₄ , the parking space is located at right angles to the traveling direction of the vehicle.

In addition, the parking space recognition unit 110, the road width (the distance from the line connecting the recognized two corner points (C ₁ , C ₂ ) to the obstacle located on the other side of the vehicle located in the traveling direction on the road) L ₄ ).

At this time, the space between the two obstacles located on one side of the vehicle located in the traveling direction on the road includes a parking space to be parked by the vehicle.

According to the above-described method, the parking space recognizer 110 recognizes the parking space and the road width, the two corner points (C ₁ , C ₂ ), the parking space width (W), the parking space depth (D) and Road width L ₄ and the like can be seen through FIG. 3.

The above-described parking path acquisition unit 120 starts after the first turning path starting at the initial position P ₀ , the second turning path starting after the first turning path, and the second turning path. The four turning paths including the "third turning path" and the "fourth turning path" starting after the third turning path and ending at the target position P ₄ are calculated to obtain a four-turn parking path. On the other hand, a straight path may be further included between each of the four turning paths mentioned above.

The parking control unit 130 may perform parking control of the vehicle along the four-turn parking path obtained by calculating the four turning paths described above, wherein the vehicle turns forward from the initial position P ₀ ; A second turning path in which the vehicle passing through the first turning path is turned back; A third turning path in which the vehicle passing through the second turning path is turned forward; And the reverse right angle parking in the order of the fourth turning path in which the vehicle passing through the third turning path reversely turns to the target position P ₄ .

As described above, a summary of the calculation order of the four turning paths performed by the parking path obtaining unit 140 and the order of the vehicle control performed by the parking control unit 130 are summarized in the parking path obtaining unit 140. The order of calculating the four turning paths performed by the fourth turning path is calculated in the order of the fourth turning path, the third turning path, the first turning path, and the second turning path, but the order of the vehicle control performed by the parking controller 130 is Parking control for the vehicle is performed in the order of the first turning route, the second turning route, the third turning route and the fourth turning route.

The above-mentioned four-turn parking path will be described in detail with reference to FIG. 3.

FIG. 3 is a diagram illustrating a four-turn parking path including four turning paths in a right angle parking control according to an embodiment of the present invention. Referring to FIG. 3, the first turning paths P ₀ to P _{1 are illustrated.} ), Four-turn parking including four turning paths including a second turning path (P ₁ to P ₂ ), a third turning path (P ₂ to P ₃ ), and a fourth turning path (P ₃ to P ₄ ) The path can be checked, the first turning path is a path turning forward when parking, the second turning path is a path turning backward following the first turning path, and the third turning path is turned forward after the second turning path. The fourth turning path is a case of turning backward after the third turning path.

In addition, through FIG. 3, it is possible to identify each starting point and completion point of the four turning paths. That is, the starting point and the finishing point of the first turning path are P ₀ and P ₁ . The starting point and the finishing point of the second turning path are P ₁ and P ₂ . The starting and finishing points of the third turn route are P ₂ and P ₃ . The starting and finishing points of the fourth turn route are P ₃ and P ₄ . Here, P ₀ is the initial position and P ₄ is the target position.

However, the "arrow direction" of each of the four turning paths shown in FIG. 3 is a direction in which the vehicle actually parks.

That is, referring to FIG. 3, when the vehicle parks along the obtained four-turn parking path, P ₀ → [first turn path] → P ₁ → [second turn path] → P ₂ → [third turn] Parking is controlled in the following order: turning route] → P ₃ → [4th turning route] → P ₄ . On the other hand, when obtaining the fourth round parking route, the turning route is obtained in the order of [fourth turning route] → [third turning route] → [first turning route] → [second turning route].

Meanwhile, the above-described parking path acquisition unit 120 includes a four-turn parking path further including one or more straight paths so that the first turning path, the second turning path, the third turning path, and the fourth turning path are continuous. Can be obtained. As an example, if the completion point of the first turn path and the start point of the second turn path do not coincide with P ₁ , a path that retreats in a straight line from the completion point of the first turn path to the start point of the second turn path may be included. Can be.

The above-described parking path acquisition unit 120 includes a fourth turning angle θ ₄ , a third turning angle θ ₃ , in the order of the fourth turning path, the third turning path, the first turning path, and the second turning path. Four turning paths are calculated by obtaining the first turning angle θ ₁ and the second turning angle θ ₂ , respectively. Below, the fourth turning angle θ ₄ , the third turning angle θ ₃ , and the first turning angle θ _{1 in} the order of the fourth turning route, the third turning route, the first turning route, and the second turning route. ) And obtaining the second turning angle θ ₂ , respectively, will be described with reference to FIGS. 4 to 7.

First, the calculation of the fourth turning path between P ₄ and P ₃ by obtaining the fourth turning angle θ ₄ will be described with reference to FIG. 4.

Referring to FIG. 4, assuming that the parking path obtaining unit 120 turns straight from the target position P ₄ to which the vehicle is to park in the exit direction (that is, the reverse direction of the parking direction). Increasing the turning angle of the vehicle by 1 degree, acquiring the maximum turning angle immediately before the front edge A of the vehicle comes into contact with an obstacle located on the other side of the vehicle as the fourth turning angle θ ₄ of the fourth turning path. do.

In this case, the fourth turning angle θ ₄ of the fourth turning path is the maximum turning angle among the turning angles that satisfy the condition of Equation 1 below.

In Equation 1, Δy is an amount of change of y value that is changed according to the turning angle by 1 degree, and y _{front edge} is the y value of the front edge A of the vehicle at the target position P ₄ , L ₄ is the road width obtained when the parking space is recognized.

Next, the calculation of the third turning path between P ₃ and P ₂ by acquiring the third turning angle θ ₃ following the fourth turning angle θ ₄ will be described with reference to FIG. 5. Here, similarly, the third turning route is calculated assuming that the vehicle leaves the station in the parking space.

Referring to FIG. 5, the parking path acquisition unit 120 assumes a situation in which the vehicle turns backward after turning the fourth turning angle θ ₄ in the discharge direction at the target position P ₄ . The maximum turning angle immediately before the corner (B) is in contact with at least one of the two corner points (C ₁ , C ₂ ) for one of the two obstacles located on one side of the vehicle, Obtained as three turning angles θ ₃ .

In this case, the third turning angle θ ₃ of the third turning path is the maximum turning angle among the turning angles that satisfy the condition of Equation 2 below.

In Equation 2, Δx is the amount of change in the x value which is changed according to the turning angle by 1 degree, and L ₃ is the x value distance from the rear corner B of the vehicle to the corner point C ₂ .

Next, after the fourth turning angle θ ₄ and the third turning angle θ ₃ , calculating the first turning path between P ₀ and P ₁ by obtaining the first turning angle θ _{1 is} shown in FIG. 6. It will be described with reference to. Here, the first turning route is calculated in accordance with the normal parking direction.

Referring to FIG. 6, the parking path acquisition unit 120 assumes a situation in which the vehicle moves forward at an initial position P ₀ , so that the front edge C of the vehicle immediately contacts an obstacle located on the other side of the vehicle. The maximum turning angle immediately before is obtained as the first turning angle θ ₁ of the first turning path.

In this case, the first turning angle θ ₁ of the first turning path is the maximum turning angle among turning angles that satisfy the condition of Equation 3 below.

In Equation 3, △ y is turning by increasing the angle by 1 degree, and the amount of change in the y value changes accordingly, y _{front edge} is the initial position the initial position and the front edge (C) of the vehicle (P ₀₎ (P ₀₎ Is the difference between y values and L ₁ is the distance from the initial position P ₀ to the obstacle located on the other side of the vehicle.

Finally, after the fourth turning angle θ ₄ , the third turning angle θ ₃ , and the first turning angle θ ₁ , the second turning angle θ ₂ is used to obtain P ₁ and P. _The calculation of the second turning path between the two will be described with reference to FIG. 7. Here, the second turning route is calculated according to the direction of parking normally.

Referring to FIG. 7, the parking path obtaining unit 120 uses the obtained fourth turning angle θ ₄ , the third turning angle θ ₃ , and the first turning angle θ ₁ to rest the second turning. An angle θ ₂ is obtained. For example, the fourth turning angle θ ₄ , the third turning angle θ ₃ , the first turning angle θ ₁ , and the second turning angle θ ₂ are all obtained. When the sum is 90 degrees, the second turning angle θ ₂ of the second turning path from P ₁ to P ₂ can be obtained.

Meanwhile, the above-described parking path acquisition unit 120 includes a four-turn parking path further including one or more straight paths so that the first turning path, the second turning path, the third turning path, and the fourth turning path are continuous. Can be obtained. As an example, the four-turn parking path may include, in addition to the four turning paths, a straight path that travels straight back between the first turning path that moves forward and the second turning path that turns backward.

The above-described parking controller 130 may control the steering control to be performed while the vehicle is moving, instead of turning after changing the steering angle in the stop state. That is, the parking controller 130 performs steering control on the vehicle "moving" along the four-turn parking path obtained by the parking path acquisition unit 120.

As such, in order for steering control to be performed while the vehicle is moving, there should be no discontinuity in the graph of the steering angle with respect to the moving distance, and the four-turn parking path having this characteristic is, for example, a curvature according to the moving distance. (Curvature) may be a cloidoid (Clothoid) path that is changed to a constant slope.

In FIG. 8, when steering control is performed while the vehicle moves according to the four-turn parking path as the clothoid path, a change in the steering angle according to the moving distance is shown graphically. In FIG. 8, the interval between P ₁ and P ₁ ′ is calculated such that the completion point of the forward turning first turn path and the starting point of the second turning turn back are inconsistent, and are added between the two turning paths to compensate for this. The parking control is performed according to the straight line.

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

2, the right angle parking control method according to an embodiment of the present invention, by detecting the obstacle located on the side of the vehicle by using a sensor, the parking space recognition step of recognizing the parking space and the road width (S200); A parking path obtaining step (S202) of obtaining a four-turn parking path including four turning paths based on the information on the parking space and the road width; And a parking control step (S204) for controlling the reverse perpendicular parking for the vehicle according to the calculated four-turn parking path.

The above-described parking space recognition step (S200) recognizes the positions of two corner points C ₁ and C ₂ with respect to two obstacles located on one side of the vehicle located in the direction of travel on the corresponding road. Then, the distance of the recognized two corner points (C ₁ , C ₂ ) is measured by the parking space width (W), and the two corner points (C ₁ , C ₂ ) based on the measured parking space width (W). The parking space is recognized by determining the parking space depth D which is the distance from the connecting line to the target position P ₄ .

In addition, the above-described parking space recognition step (S200) is the width of the road from the line connecting the two corner points (C ₁ , C ₂ ) recognized to the obstacle located on the other side of the vehicle located in the direction of travel on the road Recognize as (L ₄ ).

At this time, the space between the two obstacles located on one side of the vehicle located in the traveling direction on the road includes a parking space to be parked by the vehicle.

The sensor mentioned above may be an ultrasonic sensor.

In the above-described parking path obtaining step S202, the "first turning path", "second turning path", "third turning path" starting at the initial position P ₀ and "ending at the target position P ₄ " Four turning paths including "fourth turning path" are calculated to obtain a four-turn parking path.

The parking control step S204 includes: a first turning path in which the vehicle turns forward from the initial position P ₀ ; A second turning path in which the vehicle passing through the first turning path is turned back; A third turning path in which the vehicle passing through the second turning path is turned forward; And the reverse right angle parking in the order of the fourth turning path in which the vehicle passing through the third turning path reversely turns to the target position P ₄ . As such, the vehicle actually parks in the order of the first turning path, the second turning path, the third turning path, and the fourth turning path, but the parking path for the parking is calculated differently from the parking order.

In an exemplary embodiment, the above-described parking path obtaining step S202 may include a fourth turning angle θ ₄ and a third in the order of the fourth turning path, the third turning path, the first turning path, and the second turning path. Four turning paths are calculated by obtaining the turning angle θ ₃ , the first turning angle θ ₁ , and the second turning angle θ ₂ , respectively. Below, the fourth turning angle θ ₄ , the third turning angle θ ₃ , and the first turning angle θ _{1 in} the order of the fourth turning route, the third turning route, the first turning route, and the second turning route. ) And obtaining the second turning angle θ ₂ , respectively.

First, the parking path obtaining step (S202) assumes a situation in which the vehicle turns straight in the exit direction from the target position P ₄ to be parked, and immediately before the front edge of the vehicle comes into contact with an obstacle located on the other side of the vehicle. The maximum turning angle of is obtained as the fourth turning angle θ ₄ of the fourth turning path.

Next, the parking path obtaining step (S202) assumes a situation in which the vehicle turns backward after the vehicle turns by the fourth turning angle θ ₄ in the discharge direction at the target position P ₄ , so that the rear edge of the vehicle The maximum turning angle just before contacting at least one of the two corner points C ₁ and C ₂ for one of the two obstacles located on one side of the third turning angle of the third turning path (θ _3). Acquire as

Next, the parking path acquisition step (S202) assuming that the vehicle is turning forward at the initial position (P ₀ ), the maximum turning angle just before the front edge of the vehicle is in contact with the obstacle located on the other side of the vehicle Obtained as the first turning angle θ ₁ of the first turning path.

Finally, the parking path obtaining step S202 is performed by using the obtained fourth turning angle θ ₄ , the third turning angle θ ₃ , and the first turning angle θ ₁ , and the remaining second turning angle θ. ₂ ), for example, the sum of the fourth turning angle θ ₄ , the third turning angle θ ₃ , the first turning angle θ ₁ , and the second turning angle θ ₂ is 90 degrees. The second turning angle θ ₂ of the second turning path may be obtained by using the property of the second turning path.

On the other hand, the above-described parking path acquisition step (S202), the four-turn parking path further comprises one or more straight paths, such that the first turning path, the second turning path, the third turning path and the fourth turning path continue. Can be obtained. As an example, the four-turn parking path may include, in addition to the four turning paths, a straight path that travels straight back between the first turning path that moves forward and the second turning path that turns backward.

The above-described parking control step S204 may be controlled so that steering control may be performed while the vehicle is moving, instead of turning after changing the steering angle in the stop state. That is, the parking control step (S204) performs the steering control for the vehicle "moves" along the four-turn parking path obtained by the parking path acquisition unit 120. As such, in order for steering control to be performed while the vehicle is moving, there should be no discontinuity in the graph of the steering angle with respect to the moving distance, and the four-turn parking path having this characteristic is, for example, a curvature according to the moving distance. (Curvature) may be a cloidoid (Clothoid) path that is changed to a constant slope.

According to the present invention described above, a collision avoidance path including four turning paths is calculated as a parking path so that the vehicle can park in the parking space by avoiding the surrounding obstacle even in a fairly narrow space, and the parking path thus calculated In accordance with the present invention, the vehicle is automatically steered so that the vehicle can park and move.

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 in one independent hardware, each part or all of the components may be selectively combined to perform some or all functions combined in one or a plurality of hardware. It may be implemented as a computer program having a module. 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. It is to be understood, however, that the present invention is not limited to the disclosed embodiments, but, on the contrary, is intended to cover various modifications and equivalent arrangements included within the spirit and scope of the appended claims. 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 block diagram of a right angle parking control apparatus according to an embodiment of the present invention,

2 is a flowchart illustrating a right angle parking control method according to an embodiment of the present invention;

3 is a diagram illustrating a four-turn parking path including four turning paths in a right angle parking control according to an embodiment of the present invention;

4 is a view for explaining a method of acquiring a fourth turning path among four turning paths in a right angle parking control according to an embodiment of the present invention;

FIG. 5 is a view for explaining a method of obtaining a third turning path among four turning paths in a right angle parking control according to an embodiment of the present invention; FIG.

FIG. 6 is a view for explaining a method of acquiring a first turning path among four turning paths in a right angle parking control according to an embodiment of the present invention; FIG.

FIG. 7 is a view for explaining a method of acquiring a second turning path among four turning paths in a right angle parking control according to an embodiment of the present invention; FIG.

8 is a graph illustrating a steering angle with respect to a moving distance when a vehicle is parked and controlled along a four-turn parking path including four turning paths in a right angle parking control according to an exemplary embodiment of the present invention.

Description of the Related Art

100: right angle parking control device 110: parking space recognition unit

120: parking path acquisition unit 130: parking control unit

Claims (12)

A parking space recognition unit for recognizing an obstacle located at a side of the vehicle by using a sensor and recognizing a parking space and a road width; A parking path obtaining unit obtaining a fourth turn parking path including four turning paths based on the parking space and the road width information; And Including the parking control unit for controlling the backward perpendicular parking for the vehicle according to the calculated four-turn parking path, The four-turn parking path is a right angle parking control device, characterized in that the cloid (Clothoid) path that the curvature is changed to a predetermined slope according to the moving distance. The method of claim 1, The parking space recognition unit, Recognize the positions of the two corner points (C ₁ , C ₂ ) for the two obstacles located on one side of the vehicle, The distance between the two corner points (C ₁ , C ₂ ) is measured by the parking space width (W), and a line connecting the two corner points (C ₁ , C ₂ ) based on the parking space width (W). By determining the parking space depth (D) which is the distance from the target position (P ₄ ) to, to recognize the parking space, The distance from the line connecting the two corner points (C ₁ , C ₂ ) to the obstacle located on the other side of the vehicle is recognized as the road width (L ₄ ), Right angle parking control device, characterized in that the space between the two obstacles located on the one side of the vehicle includes the parking space. 3. The method of claim 2, The parking path acquisition unit, Calculating the four turning paths including the first turning path starting at the initial position P ₀ , the second turning path, the third turning path, and the fourth turning path ending at the target position P ₄ ; Get a turn-by-turn parking route, A fourth turning angle θ ₄ , a third turning angle θ ₃ , and a first turning angle θ in the order of the fourth turning path, the third turning path, the first turning path, and the second turning path. ₁ ) and a second turning angle θ ₂ , respectively, to calculate the four turning paths. The method of claim 3, The parking control unit, The first turning path, the vehicle turning forward from the initial position (P ₀ ); The second turning path in which the vehicle that has passed the first turning path is turned back; The third turning path in which the vehicle traverses the second turning path forward; And the right angle parking control in the order of the fourth turning path in which the vehicle passing through the third turning path reversely turns to the target position (P ₄ ). The method of claim 3, The parking path acquisition unit, Assuming that the vehicle turns straight in the discharging direction at the target position P ₄ , Right angle parking control, characterized in that to obtain the maximum turning angle immediately before the front edge of the vehicle is in contact with the obstacle located on the other side of the vehicle as the fourth turning angle θ ₄ of the fourth turning path. Device. 6. The method of claim 5, The parking path acquisition unit, Assuming that the vehicle turns backward after the vehicle has turned in the direction of exiting from the target position P ₄ by the fourth turning angle θ ₄ , The maximum turning angle immediately before the rear edge of the vehicle is in contact with at least one of the two corner points C ₁ , C ₂ for one of the two obstacles located on the one side of the vehicle; Right angle parking control device, characterized in that obtained as the third turning angle (θ ₃ ) of the third turning path. The method according to claim 6, The parking path acquisition unit, Assuming that the vehicle turns forward at the initial position P ₀ , Right angle parking control, characterized in that to obtain the maximum turning angle immediately before the front edge of the vehicle is in contact with the obstacle located on the other side of the vehicle as the first turning angle θ ₁ of the first turning path. Device. The method of claim 3, The parking path acquisition unit, The second turning path such that the fourth turning angle θ ₄ , the third turning angle θ ₃ , the first turning angle θ ₁ , and the second turning angle θ ₂ are added up to 90 degrees. Right angle parking control device, characterized in that for obtaining the second turning angle (θ ₂ ). The method of claim 3, The parking path acquisition unit, And obtaining a four-turn parking path further comprising at least one straight path such that the first turning path, the second turning path, the third turning path and the fourth turning path are continuous. Parking control device. The method of claim 3, The parking control unit, Right angle parking control device characterized in that for performing the steering control for the vehicle moving along the four-turn parking path. delete (a) a parking space recognition step of recognizing a parking space and a road width by detecting an obstacle located at a side of the vehicle using a sensor; (b) a parking path obtaining step of obtaining a four-turn parking path including four turning paths based on the parking space and the road width information; And (c) a parking control step of controlling backward perpendicular parking for the vehicle according to the calculated four-turn parking path, The four-turn parking path is a right-angle parking control method characterized in that the curvature (Clothoid) path that the curvature is changed to a predetermined slope according to the moving distance.

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