KR101512784B1 - Automatic parking assistant method integrated path generation and steering control and Automatic parking assistant system for the same method - Google Patents

Abstract

)를 줄이는 방향으로 조향제어를 수행하는 단계를 포함한다. 본 발명은, 주차위치가 변경되거나 장애물이 발견되는 등 주변 환경이 변화하더라도 유연하고 연속적인 주차지원이 가능하며, 목표 주차위치를 향하는 경로 생성 단계가 생략되어 종래보다 연산효율이 향상되고 실시간으로 생성되는 차량의 진로각도오차를 이용하여 조향제어를 수행함으로써 신속하고 정확한 주차지원이 가능할 수 있다.The automatic parking assistance method and the automatic parking assistance system according to the present invention include: recognizing a target position of a parking lot of a vehicle; Generating a desired career angle from a first reference point corresponding to the target position and a second reference point corresponding to a current position where the current vehicle is located; And a difference between a desired course angle and a desired course angle of the vehicle at the current position,

In the direction of reducing the steering angle. The present invention can provide flexible and continuous parking support even if the surrounding environment changes, such as when the parking position is changed or an obstacle is found, and the route creation step toward the target parking position is omitted, It is possible to provide fast and accurate parking support by performing the steering control using the career angle error of the vehicle.

Description

TECHNICAL FIELD [0001] The present invention relates to an automatic parking assist method and an automatic parking assist system for the same method,

The present invention relates to an automatic parking assist method and an automatic parking assist system, and more particularly, to an automatic parking assist method and an automatic parking assist method that generate and control a career angle error suitable for parking through position information acquired from a parking space recognition step in real time, To a parking assistance system.

A vehicle is a collection of numerous devices. The engine, as well as individual devices or modules such as transmissions, steering systems, and braking systems, have their own roles and functions, and they form a single system that operates together. The steering device plays a role of setting or guiding the vehicle according to the operation of the driver.

In recent years, various electronic devices have been introduced to enhance the safety of the vehicle and enhance the convenience of the driver. Techniques for an electronic control system that assists a driver in coping with a dangerous situation that the driver is not aware of beforehand, reducing the burden on the driver, and improving the driver's convenience are also being commercialized.

In particular, the Smart Parking Assist System (SPAS) can provide safety and convenience to the driver in parking the vehicle. The parking assisting system generally comprises a configuration for detecting a parking space, generating a parking path, and steering and controlling the steering so as to follow the generated path. According to Korean Patent Laid-Open Publication No. 10-2013-0053235, as a technology related to a parking assistance system, a vehicle is automatically controlled from information on a parking space of a vehicle Technology is disclosed. This technique relates to a steering control method for following a generated path, and includes a separate path generating unit for determining a parking space of the vehicle using a sensing device and then generating a path to the parking space, And the control part operate separately, and the controller follows the generated path and the vehicle is parked.

However, in the case of such a conventional parking assistance system, once the route search process for the parking position is performed, a step of re-searching the route again is required when the error is generated, There is a problem in that the calculation efficiency is inferior. When the surrounding environment changes, there is a problem in that the parking assistance system is not flexible and heavy because a re-searching step is accompanied.

SUMMARY OF THE INVENTION The present invention has been proposed in order to solve the above-mentioned problems, and it is an object of the present invention to provide a parking assist system capable of supporting flexible and continuous parking even when the surrounding environment changes such that a parking position is changed or an obstacle is detected, It provides automatic parking support method with parking support and automatic parking support system.

, desired heading angle)를 생성하는 단계; 및 상기 현재위치에서 차량의 진로각도인 현재진로각도(

)와, 상기 희망진로각도(

) 사이의 차이각인 진로각도오차(

)를 줄이는 방향으로 조향제어를 수행하는 단계를 포함할 수 있다.According to another aspect of the present invention, there is provided a method of supporting automatic parking, comprising: recognizing a targeted parking area of a vehicle; From a first reference point corresponding to the target position and a second reference point corresponding to a current position where the current vehicle is located,

a desired heading angle; And a current course angle (&thetas;

), The desired career angle (

) Angular incline angle error (

) In the direction of reducing the steering angle.

)를 생성하는 단계는, 인식된 상기 목표위치로부터 상기 제1 기준점과 차량이 주차될 목표방향과 이에 수직한 방향으로 구성되는 기준 좌표축을 설정하는 단계; 및 상기 희망진로각도(

)를 계산하는 단계;를 포함할 수 있다.The desired career angle (

) Includes the steps of: setting a reference coordinate axis configured from the recognized target position to the first reference point and a direction perpendicular to the target direction in which the vehicle is to be parked; And the desired career angle (

) Of the target pixel.

) 계산하는 단계는, 상기 Y축 상의 한 점을 가상의 원호의 중심으로 하여 상기 제1 기준점과 제2 기준점(

)을 잇는 원호를 형성시키고, 상기 제2 기준점(

)에서 상기 원호의 접선을 생성하며, 생성된 상기 접선과 상기 X축 사이의 사이각을 계산할 수 있다.Wherein the reference coordinate axis is composed of a virtual extension line (X axis) connecting the first reference point to the target direction and an extension line (Y axis) perpendicular to the X axis from the first reference point,

), The step of calculating a point on the Y-axis is the center of a virtual arc,

), And the second reference point (

), And the angle between the generated tangent line and the X-axis can be calculated.

)은, 상기 현재위치 상의 차량의 후륜 구동축의 중심점일 수 있다.Wherein the first reference point is a point at which any one of both ends of the rear wheel drive shaft of the vehicle is positioned within the target position when the vehicle is parked and the second reference point

May be the center point of the rear wheel drive shaft of the vehicle on the current position.

)는, 상기 희망진로각도(

)와 상기 현재위치에서 차량의 현재진로각도(

)의 차이에 의해 산출될 수 있다.The career angle error (

), The desired career angle (

) And the current course angle of the vehicle at the current position

). ≪ / RTI >

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)를 줄이는 방향은, 상기 진로각도오차(

)의 절대치를 감소시키도록 제어할 수 있다.In the step of performing the steering control,

) Is determined by subtracting the above-mentioned career angle error (

) Of the input signal.

The step of recognizing the parking position of the vehicle may be performed by any one of a distance sensor, an infrared sensor, an image sensor or a camera provided in the vehicle.

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)를 생성하고, 상기 현재위치에서 차량의 진로각도인 현재진로각도(

)와, 상기 희망진로각도 사이의 차이각인 진로각도오차(

)를 줄이는 방향으로 조향제어를 수행하는 조향제어 모듈을 포함할 수 있다.A recognition module for recognizing a targeted parking area of the vehicle; And a desired reference angle from a second reference point corresponding to a first reference point corresponding to the target position and a current position where the current vehicle is located

), And calculates the current course angle (&thetas;

And a desired angle of departure

And a steering control module that performs steering control in a direction to reduce the steering angle.

)는, 상기 희망진로각도(

)와 현재진로각도(

)의 차이에 의해 계산될 수 있다.The career angle error (

), The desired career angle (

) And the current career angle (

). ≪ / RTI >

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The automatic parking assisting method and the automatic parking assisting system according to the present invention can support flexible and continuous parking even if the surrounding environment changes such as a change in the parking position or an obstacle is found and the step of generating a route toward the target parking position is omitted So that the arithmetic efficiency is improved and the steering angle error of the vehicle generated in real time is used to perform steering control, thereby enabling quick and accurate parking support.

In addition, the automatic parking support method and the automatic parking support system can complete the parking through repetition of forward / backward in a narrow space where parking is difficult at a time, and more efficient parking support is also required for square parking as well as square parking .

In addition, the automatic parking support method and the automatic parking support system according to the present invention can help construct a fully automated unmanned parking system by calculating and providing a real-time career angle error.

1 is a flowchart illustrating an automatic parking assisting method according to an embodiment of the present invention.
2 is a diagram illustrating an example of setting a first reference point, a second reference point, and a target direction in the automatic parking assistance method according to an embodiment of the present invention.
FIG. 3 is a view showing a desired career angle, a career angle error, and a current career angle at a second reference point in FIG. 2; FIG.
4 is a view for explaining a formula of a career angle error according to an automatic parking assisting method according to an embodiment of the present invention.
5 is a view showing a steering control direction for reducing a career angle error depending on whether the vehicle is moving forward or backward.
FIG. 6 is a block diagram illustrating a configuration of an automatic parking assistance system according to an embodiment of the present invention.
7 is a diagram illustrating an example of rectangular parking using the automatic parking support method and the automatic parking support system according to an embodiment of the present invention.
Figs. 8 and 9 are views showing an example of generating a career angle error in real time in accordance with a vehicle position change.

Hereinafter, embodiments according to the present invention will be described in detail with reference to the accompanying drawings. However, the present invention is not limited to or limited by the embodiments. Like reference symbols in the drawings denote like elements.

Prior to the description, the target position and the current position indicate that the starting point is a first reference point and a second reference point, respectively, and a certain direction is formed therefrom.

FIG. 1 is a flowchart for explaining a method for supporting automatic parking according to an embodiment of the present invention. FIG. 2 is a flowchart illustrating a method for supporting automatic parking in accordance with an embodiment of the present invention. FIG. 3 is a view showing a desired career angle, a career angle error, and a current career angle at a second reference point in FIG. 2, FIG. 4 is a view showing an example of a self parking support according to an embodiment of the present invention. FIG. 5 is a diagram illustrating a steering control direction for reducing a career angle error depending on whether the vehicle is moving forward or backward. FIG.

)를 생성하는 단계(S120)와, 상기 진로각도오차(

)를 줄이는 방향으로 조향제어를 수행하는 단계(S130)를 포함할 수 있다.The present invention proposes a parking support method that can be parked without a complicated route generation algorithm. The parking assist method can generate the steering angle suitable for the parking in real time through the geometric relationship between the known parking target position and the position of the vehicle and control the parking angle by controlling the steering angle. For this purpose, referring to FIG. 1, a method of supporting automatic parking according to an exemplary embodiment of the present invention includes a step S110 of recognizing a targeted parking area of a vehicle, From the current position information of the vehicle,

(S120); and a step of generating the career angle error

(S130) in the direction of reducing the steering angle of the steering wheel.

The step of recognizing the targeted parking area (S110) is a process of searching for a parking space in which the actual vehicle is to be parked, as shown in FIG. In the recognition step in the automatic parking assist method of the present invention, the target position means a parking space in which the vehicle is to be parked, and recognizing the target position is a process of searching for the first reference point and the target direction substantially. Here, the first reference point refers to the position of either one of both ends of the rear wheel drive shaft when the vehicle is parked, and the target direction means the longitudinal direction (frontal direction) of the vehicle when the vehicle is fully parked in the parking space. In Fig. 2, the first reference point is the position of the right end of the rear wheel drive shaft at the parking target position, and the target direction may be the direction in which the X axis is disposed.

The recognition step S110 may be performed by a sensor unit 110 such as a distance sensor, an infrared sensor, an image sensor, or a camera provided in the vehicle.

)를 생성하는 단계(S120)가 수행될 수 있다. 이러한 희망진로각도(

)를 생성하는 단계(S120)는, 인식된 상기 목표위치로부터 기준 좌표축을 설정하는 단계(S121)와, 희망진로각도((

)를 계산하는 단계를 포함할 수 있다.After the step S110 of recognizing the targeted parking area,

(S120) may be performed. Such a desired career angle (

(S 120) of setting a reference coordinate axis from the recognized target position, a step of setting a desired coordinate angle (

). ≪ / RTI >

First, as shown in Fig. 2, setting a reference coordinate axis from the recognized target position (S121) may be performed. Here, the reference coordinate axis is provided with an X axis and a Y axis perpendicular to the X axis, and the X axis refers to an imaginary extension line extending from the first reference point to the target direction, and the Y axis refers to a perpendicular extension line at the first reference point. If the first reference point and the target direction are recognized in step S110 of recognizing the target position, the reference coordinate axis can be generated.

)은 기준 좌표축 상에 배치되는 상대적인 좌표값을 의미하며, 본 실시예에서의 제2 기준점(

)은 상기 차량의 후륜 구동축의 중심점이 될 수 있다.On the other hand,

) Denotes a relative coordinate value disposed on the reference coordinate axis, and the second reference point (

May be the center point of the rear wheel drive shaft of the vehicle.

)를 계산하는 단계(S121)가 수행되는데, 먼저 가상의 원호가 형성될 수 있다. 원호의 중심은 상기 Y축 상의 한 점을 가상의 원호의 중심으로 하되, 상기 제1 기준점과 제2 기준점(

)을 잇도록 생성될 수 있다. 그러면, 제1 기준점과 제2 기준점(

)을 가로지르면서 Y축 상에 원호의 중심이 존재하는 원호는 특정될 수 있으며, 원호의 중심으로부터 제1 기준점 및 제2 기준점(

)에 이르는 거리는 반경 R로 특정될 수 있다. 다음으로, 상기 제2 기준점(

)에서 형성된 상기 원호의 접선이 생성할 수 있으며 접선과 상기 X축 사이의 사이각을 계산할 수 있게 된다. 사이각은 희망진로각도(

)가 될 수 있다. 희망진로각도(

)는 원의 접선을 따라 이동되기 때문에, 희망진로각도(

)가 누적되어 표시되는 경우 가상의 원호 형상을 추종하는 형상을 보인다.As shown in FIG. 3, the desired career angle (

(S121) is performed. First, a virtual arc can be formed. The center of the circular arc is defined as a center of a virtual arc in the Y-axis direction, and the first reference point and the second reference point

). ≪ / RTI > Then, the first reference point and the second reference point (

), The arc having the center of the arc on the Y-axis can be specified, and the first reference point and the second reference point

) Can be specified by radius R. < RTI ID = 0.0 > Next, the second reference point (

The tangent of the arc formed in the tangent line can be generated and the angle between the tangent line and the X axis can be calculated. The inter-angle is the desired career angle (

). Desired career angle (

) Is moved along the tangent of the circle, the desired career angle (

) Are displayed in a cumulative manner, a shape that follows a virtual arc shape is shown.

)는 도 4의 기하학적 관계로부터 구할 수 있다. 도 4를 참조하면, 목표위치와 현재위치 사이의 원의 방정식을 도출할 수 있다.Such a desired career angle (

Can be obtained from the geometric relationship of Fig. Referring to FIG. 4, a circle equation between the target position and the current position can be derived.

[Equation 1]

(1) for the radius R can be derived.

)는 도 4의 기하학적 관계에 의해 다음과 같이 표현될 수 있다.On the other hand,

Can be expressed by the geometric relationship of FIG. 4 as follows.

&Quot; (2) "

)는 다음과 같이 정리된다.If Equation (2) is substituted into Equation (1), the desired career angle (

) Are summarized as follows.

&Quot; (3) "

)는 목표위치와 현재위치 사이의 기하학적 관계에 의해 [수학식 3]으로 정리될 수 있다.Thus, the desired career angle (

) Can be summarized by Equation (3) by the geometric relationship between the target position and the current position.

)를 산출하는 단계(S123)가 수행될 수 있다.Next, the current career angle (

(Step S123) may be performed.

)는, 현재위치에서 차량의 진로각도를 의미하는 것으로, 상기 제2 기준점에서 시작하며 상기 차량이 배치된 현재방향과 상기 X축 사이에 형성되는 사이각을 말한다.The current career angle (

Refers to the angle of the vehicle starting from the second reference point and formed between the current direction in which the vehicle is disposed and the X axis.

)가 계산되면, 진로각도오차(

, heading angle error)를 산출할 수 있게 된다(S124). 진로각도오차(

)라 함은, 목표위치에 도달하기 위한 스티어링의 회전 각도를 의미하는 것으로, 본 발명의 요지는 진로각도오차(

)의 절대치를 줄이는 과정이라 볼 수 있다.Current career angle (

) Is calculated, a career angle error (

, heading angle error (S124). Career angle error (

) Means a rotation angle of steering for reaching a target position, and the gist of the present invention is a steering angle error

) Is the process of reducing the absolute value of.

)는, 상기 희망진로각도(

)와 현재진로각도(

)의 차이로 구성된다. The career angle error (

), The desired career angle (

) And the current career angle (

).

 &Quot; (4) "

)를 줄이는 방향으로 수행될 수 있다.Next, the steering control performing step (S130)

).

)로부터 조향 각도값을 계산하는 단계(S132)와, 상기 조향 각도값을 기초로 하여 생성되는 조향신호를 송출하는 단계(S133)를 포함할 수 있다.The step of performing the steering control (S130) includes the steps of determining whether the vehicle is moving forward or backward (S131)

(S132) of calculating a steering angle value from the steering angle value, and transmitting a steering signal generated based on the steering angle value (S133).

)를 생성하더라도 전, 후진 여부에 따라 왼쪽으로 또는 오른쪽으로 설정하여 제어해야 하는지 여부가 달라진다. 따라서, 전, 후진 여부가 먼저 판정되어야 한다. 일반적으로 차량의 전진 또는 후진 여부는 변속 기어의 상태로 용이하게 판단할 수 있다. 이는 차량 제어 관련 기술분야에서 통상의 기술자라면 용이하게 실시할 수 있는 일반적인 기술에 해당하므로 상세한 설명은 생략하기로 한다.The step of determining whether to advance or backward can be preceded (S131). As shown in Fig. 5, a career angle error at the present position of the vehicle

), Whether it should be controlled by setting it to the left or right depending on whether it is forward or backward. Therefore, whether forward or backward should be determined first. Generally, whether the vehicle is moving forward or backward can be easily judged as a state of the shift gear. This is a general technique that can be readily implemented by a person skilled in the art in the field of vehicle control, so that a detailed description thereof will be omitted.

)를 줄이도록 제어하기 위하여 조향 각도값이 계산되는 단계가 수행된다(S132). 이는, 제어부(240)의 피드포워드 조향 각도와 피드백 조향 각도를 각각 추가하여 제어할 수 있다. 상기 조향 각도값(피드포워드 조향 각도와 피드백 조향 각도)은 상기 차량의 종방향의 속도와 차량의 휠 베이스(wheel base)의 관계식으로부터 계산될 수 있다.Next, a career angle error (

The steering angle value is calculated (S132). This can be controlled by adding the feed forward steering angle and the feedback steering angle of the control unit 240, respectively. The steering angle values (the feed forward steering angle and the feedback steering angle) can be calculated from the relationship between the longitudinal speed of the vehicle and the wheel base of the vehicle.

&Quot; (5) "

&Quot; (6) "

Here, Kgain is the gain for steering control, Vx is the longitudinal direction (X-axis direction) speed of the vehicle, L is the wheelbase of the vehicle, and R is the turning radius.

Finally, the equation for steering is as shown in Equation (7).

&Quot; (7) "

)가 줄어들도록 동작하게 된다.Finally, a step of transmitting a steering signal generated based on the steering angle value may be performed (S133). The steering signal can be transmitted to the steering device and the driving device in association with the driving signal of the engine and can be controlled. The step of performing the steering control may include:

) Is reduced.

As described above, according to the automatic parking assisting method proposed by the present invention, the steering control is performed directly without generating the parking path, and the calculation load can be further reduced and the efficiency can be improved. .

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)를 계산하여 제공함으로써 완전 자동화된 무인 주차 시스템을 구축하는데 도움이 될 수 있다.In addition, the automatic parking assisting method and the automatic parking assisting system according to the present invention are capable of real-

) To provide a fully automated unmanned parking system.

FIG. 6 is a block diagram illustrating a configuration of an automatic parking assistance system according to an embodiment of the present invention.

Hereinafter, the automatic parking assistance system having such a configuration will be mainly described with reference to FIG.

The automatic parking assistance system according to an embodiment of the present invention includes a recognition module 100 for recognizing a targeted parking area of a vehicle, a steering unit for steering the vehicle from the information of the current position at which the vehicle is currently located to the target position, And a control module (200).

In the present embodiment, the recognition module 100 has only the configuration of the sensor unit 110. However, when the sensing value is large or the efficiency is low due to the large load of the sensing value, A preprocessing unit may be further configured to perform preprocessing before transmission to the mobile station 200.

)를 생성하는 희망진로각도 생성부(220)와, 상기 진로각도오차(

)로부터 조향 각도값을 계산하는 이득값 계산부(230)와, 상기 진로각도오차(

)를 추종하며 조향제어를 수행하는 제어부(240)를 포함할 수 있다.The steering control module 200 includes an information processing unit 210 for generating a reference coordinate axis from the recognized target position and a steering angle control unit 210 for calculating a steering angle error

A desired career angle generating unit 220 for generating a career angle error

(230) for calculating a steering angle value from the steering angle angle error

And a controller 240 for performing steering control.

)을 생성할 수 있다. 또한, 센서부로부터 입력된 센싱값을 필터링하는 역할도 수행할 수 있다.The information processing unit 210 generates a first reference point and an X-axis based on the information of the recognition module 100. [ At the same time, the second reference point

Can be generated. In addition, the sensor may also filter the sensing value input from the sensor unit.

) 및 기준 좌표축의 정보를 기초로 하여 희망진로각도(

)를 산출하고 진로각도오차(

)를 산출하게 된다.The desired career angle generating unit 220 generates the desired career angle generating unit 220 based on the first reference point,

) And the reference coordinate axes based on the desired career angle (

) And calculating a career angle error (

).

)를 줄이는 방향으로 제어부(240)에 조향 각도값을 부가하는 역할을 한다. 전술한 바와 마찬가지로, 조향 각도값은 피드포워드 조향 각도와 피드백 조향 각도를 모두 이용하여 제어한다.The gain calculator 230 calculates the gain angle error (

To the control unit 240 in the direction of reducing the steering angle. As described above, the steering angle value is controlled using both the feedforward steering angle and the feedback steering angle.

)가 줄어들도록 동작한다.The control unit 240 adds and controls the steering angle value,

) Is reduced.

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Figs. 8 and 9 are views showing an example of generating a career angle error in real time in accordance with a vehicle position change.

)가 수정되어 가는 과정을 볼 수 있다. 이러한 과정은 앞서 희망진로각도를 생성하는 단계(S120)에서 설명한 수학식 1 내지 수학식 4에 기초하여 충분히 도출할 수 있다. 최종적으로 차량을 목표위치에 주차완료시킬 수 있다. 이와 같이, 현재 위치와 주차 공간에 대하여 단순한 기하학적 경로를 사용하여 연산 비용 측면에서도 효율적이어서 신속하고 정확한 자동주차를 지원하는 장점이 있다.As shown in Figs. 8 and 9, arcs are formed in real time in accordance with the vehicle position change, and a tangent line is generated,

) Can be seen to be modified. This process can be sufficiently derived based on the equations (1) to (4) described in the step of generating the desired career angle (S120). Finally, the vehicle can be parked at the target position. Thus, the present invention is advantageous in that it uses a simple geometric path for the current position and the parking space, and is efficient in terms of the calculation cost, thereby providing quick and accurate automatic parking.

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In addition, even when the target parking position changes while the parking assist system is operating, the parking can be completed through continuous steering control by flexibly coping.

In addition, it is not a process of generating the route and following the generated route, but rather calculating the angle of the steering in real time from the current position of the vehicle to the parking space as if the driver is parking the steering angle appropriately in the actual parking .

)를 계산하여 제공함으로써 완전 자동화된 무인 주차 시스템을 구축하는데 도움이 될 수 있다.In addition, the automatic parking assisting method and the automatic parking assisting system according to the present invention are capable of real-

) To provide a fully automated unmanned parking system.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the scope of the present invention is not limited to the disclosed exemplary embodiments. It will also be appreciated that many modifications and variations will be apparent to those skilled in the art without departing from the scope of the present invention.

100: recognition module 110:
200: Steering control module 210: Information processing unit
220: desired career angle generating unit 230: gain value calculating unit
240:

Claims (12)

Recognizing a target position of a parking lot of the vehicle;
From a first reference point corresponding to the target position and a second reference point corresponding to a current position where the current vehicle is located,

); And
A current career angle which is a career angle of the vehicle at the current position

And a desired angle of departure

) In the steering direction,
The desired career angle (

≪ / RTI >
Setting a reference coordinate axis configured from the recognized target position to the first reference point and a target direction in which the vehicle is parked and a direction perpendicular thereto; And
The desired career angle (

), ≪ / RTI >
Wherein the reference coordinate axis is composed of a virtual extension line (X axis) connecting the first reference point to the target direction and an extension line (Y axis) perpendicular to the X axis from the first reference point,
The desired career angle (

≪ / RTI >
A point on the Y-axis is defined as a center of a virtual arc, and the first reference point and the second reference point

), And the second reference point (

), And the angle between the generated tangent line and the X-axis is calculated.
delete delete The method according to claim 1,
Wherein the first reference point is a point at which any one of both ends of the rear wheel drive shaft of the vehicle is positioned within the target position when the vehicle is parked,
The second reference point

) Is a center point of the rear wheel drive shaft of the vehicle on the current position.
The method according to claim 1,
The career angle error (

), The desired career angle (

) And the current career angle (

) In the step (b).
delete The method according to claim 1,
In the step of performing the steering control,

) Is determined by subtracting the above-mentioned career angle error (

) Is decreased so as to reduce the absolute value of the parking distance.
The method according to claim 1,
Wherein the step of recognizing the parking position of the vehicle is performed by a distance sensor, an infrared sensor, an image sensor, or a camera provided in the vehicle.
delete A recognition module for recognizing a target position of a parking lot of the vehicle; And
From a first reference point corresponding to the target position and a second reference point corresponding to a current position where the current vehicle is located,

), And calculates the current course angle (&thetas;

And a desired angle of departure

The steering control module performing steering control in a direction to reduce the steering angle,
The steering control module includes:
Sets a reference coordinate axis constituted by the first reference point and a target direction in which the vehicle is to be parked and a direction perpendicular thereto from the recognized target position,

),
Wherein the reference coordinate axis is composed of a virtual extension line (X axis) connecting the first reference point to the target direction and an extension line (Y axis) perpendicular to the X axis from the first reference point,
The steering control module determines the desired course angle

), A point on the Y-axis is defined as a center of a virtual arc, and the first reference point and the second reference point

), And the second reference point (

), And calculates an angle between the generated tangent line and the X-axis.
11. The method of claim 10,
The career angle error (

) Is obtained by subtracting the desired career angle from the current career angle (

And the difference is calculated by a difference.
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