KR101585442B1 - Apparatus for assisting parking and method for assisting thereof - Google Patents

Abstract

A parking space photographing unit receives a parking mode operation signal from a parking mode operation device when the vehicle is parked and photographs a parking space in a peripheral area of the current vehicle using an AVM (Around View Monitor) camera; A parking space image data correcting unit for correcting the current parking space image data corresponding to the parking space of the peripheral area of the current vehicle photographed by the parking space photographing unit to the current birds eye view image data including the current parking space image data, ; A controller receiving at least one current parking space image data from current left and right parallel parking space image data corresponding to the current birds eye view image data corrected by the parking space image data correction unit and current left and right square parking space image data; A parking space display unit for displaying at least one current parking space image data corrected by the parking space image data correction unit according to the control of the control unit; And a steering driver for driving at least one current parking space image data displayed in the parking space display unit and driving the steering driving device for parking in the parking space under the control of the control unit to park the parking space in the parking space Device and its parking assist method.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a parking assisting apparatus,

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

Generally, the conventional parking assist device is provided to guide the driver to a convenient parking at the time of parking.

However, since the conventional parking assist device must be parked by selecting the parking mode operation device according to right and left right angle parking and left and right parallel parking at the time of parking, there is a limitation in providing convenience of parking.

Therefore, in recent years, research has been continuously conducted on an improved parking assisting device and its parking assisting method capable of improving the reliability of parking while providing convenience of parking at the time of parking, and rapidly parking the parking space.

An object of the present invention is to provide a parking assisting device and its parking assisting method capable of improving parking reliability.

It is another object of the present invention to provide a parking assisting device and its parking assisting method which can provide convenience of parking while improving reliability of parking.

It is still another object of the present invention to provide a parking assisting device and a parking assisting method for parking the parking space more quickly.

In order to accomplish the above object, the present invention provides a parking space for photographing a parking space in a peripheral area of a current vehicle using an AVM (Around View Monitor) camera, receiving a parking mode operation signal from the parking mode operation device when parking the vehicle, A photographing unit; A parking space image data correcting unit for correcting the current parking space image data corresponding to the parking space of the peripheral area of the current vehicle photographed by the parking space photographing unit to the current birds eye view image data including the current parking space image data, ; A controller receiving at least one current parking space image data from current left and right parallel parking space image data corresponding to the current birds eye view image data corrected by the parking space image data correction unit and current left and right square parking space image data; A parking space display unit for displaying at least one current parking space image data corrected by the parking space image data correction unit according to the control of the control unit; And a steering driver for driving at least one current parking space image data displayed on the parking space display unit and driving the steering driving device for parking the parking space under the control of the control unit to park the parking space in the parking space.

According to another aspect of the present invention, the control unit further includes a reference left and right parallel parking space image data range and a reference right and left right parking space image data range; The control unit determines whether at least one current parking space image data corrected by the parking space image data correction unit is at least one reference parking space image data range from the standard left and right parallel parking space image data ranges and the standard left and right rectangular parking space image data ranges And a parking space determination unit for determining the parking space based on the parking space determination unit; If the at least one current parking space image data determined by the parking space determination unit is in the range of at least one reference parking space image data, a parking space notification unit informing the status of the current parking space corresponding to at least one current parking space image data .

According to another aspect of the present invention, the parking space determination unit determines whether the current parking space image pattern corresponding to at least one current parking space image data is a reference parking space image pattern range corresponding to at least one reference parking space image data range And judges according to the control of the control unit.

According to another aspect of the present invention, the control unit further includes an access range of already set reference object information; Further comprising: an object detection unit for detecting current object information present in the current parking space; The parking space determining unit further determines, according to the control of the control unit, whether the current object information detected by the object detecting unit is out of the access range of the reference object information; When the current object information judged by the parking space judging unit is out of the access range of the reference object information, it is possible to identify the parking space of the current vehicle as a parking available state, or if the current object information judged by the parking space judging unit is the access range of the reference object information And an identification unit for identifying the parking space of the current vehicle as a non-parkable state.

According to still another aspect of the present invention, the parking space determination unit determines whether the current object information detected by the object detection unit is out of the access range of the reference object information as the range of approach distance between the current object information and the reference object information do.

According to another aspect of the present invention, a parking space display unit may display image data having a frame per image for a predetermined time under control of a control unit among image data having an image frame corresponding to at least one current parking space image data, And displays the image.

In addition, the present invention provides a parking space photographing apparatus which receives a parking mode operation signal from a parking mode operation apparatus when parking a vehicle and uses the AVM (Around View Monitor) A space photographing step; The current parking space image data corresponding to the parking space of the peripheral area of the current vehicle photographed by the parking space photographing part is supplied and the parking space image data correction part corrects it to the current birds eye view image data including the current parking space image data A parking space image data correction step; At least one current parking space image data of current left and right parallel parking space image data corresponding to the current birds eye view image data corrected by the parking space image data correction unit and current left and right square parking space image data is received from the control unit, A parking space display step of displaying the parking space on the display unit; And at least one current parking space image data displayed in the parking space display unit and driving the steering driving device for parking the corresponding parking space in the steering driving unit under the control of the control unit to park the parking space in the corresponding parking space .

According to another aspect of the present invention, at least one current parking space image data corrected by the parking space image data correcting unit after the parking space displaying step is stored in the reference left and right parallel parking space image data ranges set in the control unit, Further comprising: a parking space determination step of determining, based on the control of the control unit, whether the parking space is in the range of at least one reference parking space image data out of the image data range; When the at least one current parking space image data determined by the parking space determination unit is at least one reference parking space image data range, the parking space notification unit notifies the current parking space condition corresponding to at least one current parking space image data Carry out more parking space notification steps.

According to another aspect of the present invention, the parking space determination step determines whether the current parking space image pattern corresponding to at least one current parking space image data is a reference parking space image pattern range corresponding to at least one reference parking space image data range Is determined by the parking space determination unit according to the control of the control unit.

According to still another aspect of the present invention, there is provided a method of detecting an obstacle, comprising: performing an object detection step of detecting, by an object detection unit, current object information present in a current parking space after a parking space display step; The parking space determination step may further include determining, by the parking space determination unit, whether the current object information detected by the object detection unit is out of the access range of the reference object information set in the control unit according to the control of the control unit; When the current object information determined by the parking space determination unit is out of the access range of the reference object information after the parking space notification step, the parking space of the current vehicle is identified as a parking state in the identification unit, If the information is the access range of the reference object information, identifies the parking space of the current vehicle as a non-parking state in the identification portion.

According to another aspect of the present invention, the parking space determination step determines whether the current object information detected by the object detection unit is out of the access range of the reference object information, in the parking space determination unit, .

According to another aspect of the present invention, the parking space displaying step may include displaying the parking space in the parking space display unit according to the control of the control unit among the image data having the image frame corresponding to at least one current parking space image data And displaying the image data separately.

According to the parking assisting device and the parking assisting method of the present invention constructed as described above, the following effects can be obtained.

First, there is an effect that the reliability of parking can be improved.

Secondly, there is another effect that it is possible to provide parking convenience while improving the reliability of parking.

Third, there is another effect that allows parking to the parking space more quickly.

1 is a block diagram showing a state in which a parking mode operating device and a steering driving device are connected to a parking assist device according to a first embodiment of the present invention;
BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a parking assisting device,
3 is a plan view showing a parking state according to a parking space of a peripheral area of a current vehicle photographed by the parking space photographing part of FIG.
4 is a flowchart showing a parking assisting method of a parking assisting device according to the first embodiment of the present invention.
5 is a block diagram showing an example of a state in which a parking mode operating device and a steering driving device are connected to a parking assist device according to a second embodiment of the present invention.
6 is a flowchart showing a parking assisting method of a parking assisting device according to a second embodiment of the present invention.
7 is a flowchart showing an example of a parking assisting method of a parking assisting device according to a second embodiment of the present invention.
FIG. 8 is a block diagram showing an example of a state in which a parking mode operating device and a steering driving device are connected to a parking assist device according to a third embodiment of the present invention; FIG.
9 is a flowchart showing a parking assisting method of a parking assisting device according to a third embodiment of the present invention.
10 is a flowchart showing an example of a parking assisting method of a parking assisting device according to a third embodiment of the present invention.

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

≪ Embodiment 1 >

1 is a block diagram showing a state in which a parking mode operating device and a steering driving device are connected to a parking assist device according to a first embodiment of the present invention.

FIG. 2 is a block diagram illustrating a state in which a parking mode operating device and a steering driving device are connected to a parking assist device according to a first embodiment of the present invention.

3 is a plan view showing a parking state according to a parking space of a peripheral area of the present vehicle photographed by the parking space photographing part shown in Fig.

1 to 3, the parking assisting device 100 according to the first embodiment of the present invention includes a parking space photographing unit 102, a parking space image data correcting unit 104, a control unit 106, A display unit 108, and a steering driver 110. [

The parking space photographing unit 102 receives a parking mode operation signal from the parking mode operation device 10 when the vehicle V is parked and receives a parking mode operation signal from the peripheral area of the current vehicle V using an AVM Of the parking space (A).

The parking space image data correction unit 104 receives the current parking space image data corresponding to the parking space of the surrounding area of the current vehicle photographed by the parking space photographing unit 102 and stores the current parking space image data in the current birds eye view image data.

The control unit 106 controls the display of the current parking space image data of at least one of the current left and right parallel parking space image data corresponding to the current birds eye view image data corrected by the parking space image data correction unit 104 and the current left and right square parking space image data As shown in FIG.

The parking space display unit 108 is provided to display at least one current parking space image data corrected by the parking space image data correction unit 104 under the control of the control unit 106. [

At this time, the parking space display unit 108 displays the image data having a frame per image for a predetermined time individually under the control of the control unit 106 among the image data having the image frame corresponding to at least one current parking space image data . ≪ / RTI >

The steering driver 110 checks at least one current parking space image data displayed on the parking space display unit 108 and controls the steering driver 30 for parking in the parking space A according to the control of the controller 106 To be parked in the parking space A.

A parking assisting method for assisting parking using the parking assisting device 100 according to the first embodiment of the present invention will now be described with reference to FIG.

4 is a flowchart showing a parking assisting method of the parking assisting device according to the first embodiment of the present invention.

Referring to FIG. 4, the parking assisting method 400 of the parking assisting device (100 of FIGS. 1 and 2) according to the first embodiment of the present invention includes a parking space photographing step S402, a parking space image data correcting step S404), a parking space display step (S406), and a parking operation step (S408).

First, the parking space photographing step S402 receives a parking mode operation signal from the parking mode operation device (10 in Figs. 1 and 2) at the time of parking the vehicle (V in Fig. 3) (A in Fig. 3) in the peripheral area of the current vehicle (V in Fig. 3) is photographed in the parking space photographing section (102 in Fig. 2).

Subsequently, the parking space image data correction step (S404) corrects the parking space image data corresponding to the current parking space (A in Fig. 3) in the peripheral area of the current vehicle (V in Fig. 3) The parking space image data is received and corrected in the parking space image data correction unit (104 in FIG. 2) to the current birds eye view image data including the current parking space image data.

Thereafter, the parking space display step S406 displays the current left and right parallel parking space image data corresponding to the current birds eye view image data corrected by the parking space image data correcting unit (104 in FIG. 2) and the current left and right square parking space image data (106 in FIG. 2) and displays the current parking space image data in the parking space display unit (108 in FIG. 2) under the control of the control unit (106 in FIG. 2).

At this time, the parking space display step (S406) displays the parking space in the parking space display part (108 in Fig. 2) according to the control of the control part (106 in Fig. 2) among the image data having the image frame corresponding to at least one current parking space image data And displaying image data having an image-specific frame for a predetermined period of time.

Finally, the parking operation step S408 confirms at least one current parking space image data displayed in the parking space display section (108 in Fig. 2) and controls the steering drive section (Fig. 2 1) and the parking space (A in Fig. 3) by driving the steering driving device (30 of Figs. 1 and 2) for parking the corresponding parking space (A in Fig.

The parking assisting device 100 and the parking assisting method 400 according to the first embodiment of the present invention are provided with the parking space photographing portion 102, the parking space image data correcting portion 104, the control portion 106, A parking space display unit 108, and a steering driving unit 110.

Therefore, the parking assist device 100 and the parking assisting method 400 according to the first embodiment of the present invention can perform the correction operation in the parking space image data correction section 104 by one-time pressing operation of the parking mode operation device 10, At least one current parking space image data of current left and right parallel parking space image data corresponding to the current birds eye view image data and current left and right angle parking space space image data is displayed in the parking space display section 108 and displayed on the parking space display section 108 , It is possible to check at least one current parking space image data displayed in the parking space A and to make it possible to improve parking reliability.

The parking assisting device 100 and the parking assisting method 400 according to the first embodiment of the present invention are configured to display at least one current parking space image data So that at least one of the current parking space image data can be quickly checked and the parking space A can be parked more quickly.

≪ Embodiment 2 >

FIG. 5 is a block diagram illustrating a state in which a parking mode operating device and a steering driving device are connected to a parking assist device according to a second embodiment of the present invention.

5, a parking assist device 500 according to a second embodiment of the present invention includes a parking space photographing unit 102, a parking space image data memory 102, A parking space display unit 108, and a steering driving unit 110. The steering wheel driving unit 110 includes a steering wheel 104, a control unit 506, a parking space display unit 108,

The function of each component corresponding to the parking assist device 500 according to the second embodiment of the present invention and the organic connection relation therebetween are the same as those of the parking assist device 100 according to the first embodiment The functions of the respective components and the organic connection relationship therebetween are the same, so that the respective further explanations thereof will be omitted below.

The parking assist device 500 according to the second embodiment of the present invention further includes a parking space determination unit 512 and a parking space notification unit 514. [

That is, the parking space determination unit 512 determines that at least one current parking space image data corrected by the parking space image data correction unit 104 is at least one of the reference left and right parallel parking space image data ranges and the reference right and left rectangular parking space image data ranges And it is provided to judge whether or not it is one reference parking space image data range under the control of the control unit 506. [

At this time, the control unit 506 may further include a reference left and right parallel parking space image data range and reference standard right and left rectangular parking space image data ranges.

Here, the parking space determination unit 512 determines The control unit 506 may be provided to determine whether the current parking space image pattern corresponding to at least one current parking space image data is a reference parking space image pattern range corresponding to at least one reference parking space image data range have.

If the at least one current parking space image data determined by the parking space determining unit 512 is at least one reference parking space image data range, the parking space notifying unit 514 notifies the at least one current parking space image data (A in Fig. 3).

At this time, although not shown, the parking space notification unit 514 is provided in a vehicle speaker (not shown) to display a current parking space corresponding to at least one current parking space image data (Fig. 3 The situation of A) can be informed.

A parking assisting method for assisting parking using the parking assisting device 500 according to the second embodiment of the present invention will now be described with reference to FIGS. 6 and 7. FIG.

FIG. 6 is a flowchart showing a parking assisting method of a parking assisting apparatus according to a second embodiment of the present invention, and FIG. 7 is a flowchart showing an example of a parking assisting method of the parking assisting apparatus according to the second embodiment of the present invention.

6 and 7, the parking assisting method 600, 700 of the parking assisting device 500 of FIG. 5 according to the second embodiment of the present invention includes a parking space photographing step S402, Step S404, a parking space display step S406, a parking space determination step S607b, S707b, a parking space notification step S607c, and a parking operation step S408.

First, the parking space photographing step S402 receives a parking mode operation signal from the parking mode operating device 10 (Fig. 5) when the vehicle (V in Fig. 3) is parked and uses an AVM A parking space (A in Fig. 3) in the peripheral area of the current vehicle (V in Fig. 3) is photographed in the parking space photographing section (102 in Fig. 5).

Subsequently, the parking space image data correction step (S404) corrects the current position of the current vehicle (V in Fig. 3) taken in the parking space photographing section (102 in Fig. 5) The parking space image data is received and corrected in the parking space image data correction unit (104 in FIG. 5) to the current birds eye view image data including the current parking space image data.

Thereafter, the parking space display step S406 displays the current left and right parallel parking space image data corresponding to the current birds eye view image data corrected by the parking space image data correcting unit 104 (Fig. 5) and the current left and right square parking space image data 5) in accordance with the control of the control unit (106 in FIG. 5). The parking space display unit (108 in FIG. 5) displays the current parking space image data.

5) of the image data having the image frame corresponding to at least one of the current parking space image data is controlled in accordance with the control of the control unit (506 in Fig. 5) in the parking space display step (S406) And displaying image data having an image-specific frame for a predetermined period of time.

Thereafter, the parking space determination step S607b determines whether or not at least one current parking space image data corrected in the parking space image data correction section (104 in Fig. 5) is the reference left and right parallel parking space images set in the control section (506 in Fig. 5) (Step 512 in FIG. 5) according to the control of the control unit 506 (FIG. 5) to determine whether at least one reference parking space image data range out of the data range and the reference right and left angle parking space image data range do.

For example, as shown in FIG. 7, the parking space determination step S707b determines whether or not the current parking space image pattern corresponding to at least one current parking space image data corresponds to at least one reference parking space image data range It is possible to perform the step of determining whether the range of the image pattern is determined in the parking space determination unit (512 in FIG. 5) according to the control of the control unit (506 in FIG. 5).

Thereafter, the parking space notification step (S607c) is performed when at least one current parking space image data determined by the parking space determination unit (512 in FIG. 5) is at least one reference parking space image data range, (514 in FIG. 5) of the current parking space corresponding to the image data (A in FIG. 3).

At this time, although not shown in the parking space notification step S607c, the parking space notification unit (514 in Fig. 5) is provided as a vehicle speaker (not shown) so that at least one current parking space It may be a step of notifying the status of the current parking space (A in Fig. 3) corresponding to the image data.

Finally, the parking operation step (S408) checks at least one current parking space image data displayed in the parking space display portion (108 in Fig. 5) and controls the steering driver (FIG. 5A) for parking the corresponding parking space (A in FIG. 3) in the corresponding parking space (A in FIG.

The parking assisting device 500 and the parking assisting methods 600 and 700 according to the second embodiment of the present invention include the parking space photographing part 102, the parking space image data correcting part 104, the control part 506 A parking space display unit 108, a steering driving unit 110, a parking space determination unit 512, and a parking space notification unit 514. The parking space display unit 108, as shown in FIG.

The parking assist device 500 and its assistant parking methods 600 and 700 according to the second embodiment of the present invention are configured such that the parking space image data corrector 104, At least one current parking space image data of the current left and right parallel parking space image data corresponding to the current birds eye view image data corrected in the current space and the current right and left square parking space image data is displayed in the parking space display unit 108, It is possible to check at least one current parking space image data displayed in the parking space 108 and to park the parking space A in the corresponding parking space A, so that reliability of parking can be improved.

The parking assisting device 500 and the parking assisting methods 600 and 700 according to the second embodiment of the present invention may be configured such that at least one current parking space having an image- Since the image data corresponding to the image data is individually displayed, at least one current parking space image data can be checked quickly, and the parking space A can be parked more quickly.

The parking assisting device 500 and the parking assisting methods 600 and 700 according to the second embodiment of the present invention may be configured such that at least one current parking space image data determined by the parking space judging unit 512 includes at least one reference In the case of the parking space image data range, the parking space notification unit 514 informs the parking space notification unit 514 of the status of the current parking space A corresponding to at least one of the current parking space image data, It becomes possible.

≪ Third Embodiment >

FIG. 8 is a block diagram illustrating an example in which a parking mode operation device and a steering drive device are connected to a parking assist device according to a third embodiment of the present invention.

8, the parking assist device 800 according to the third embodiment of the present invention includes the parking space photographing unit 102, the parking space image data item A parking space display unit 108, a steering driving unit 110, a parking space determination unit 812, and a parking space notification unit 514. The control unit 806 controls the operation of the parking space display unit 108,

The function of each component corresponding to the parking assist device 800 according to the third embodiment of the present invention and the organic connection relation between them are the same as those of the parking assist device 500 according to the second embodiment The functions of the respective components and the organic connection relationship therebetween are the same, so that the respective further explanations thereof will be omitted below.

The parking assisting device 800 according to the third embodiment of the present invention further includes an object detecting unit 811 and an identifying unit 816. [

That is, the object detection unit 811 is provided to detect the current object information (B1 and B2 in FIG. 3) present in the current parking space (A in FIG. 3).

Here, although not shown, the object detecting unit 811 may include a CCD image sensor (not shown), a CMOS image sensor (not shown), an infrared sensor (not shown), an ultrasonic sensor (not shown), a radar sensor May be provided as at least one.

The control unit 806 is provided to further include an access range of the already set reference object information. The parking space determination unit 812 determines the current object information (B1, B2 in FIG. 3) detected by the object detection unit 811, The control unit 806 determines whether the reference object information is out of the access range of the reference object information.

For example, the parking space determination unit 812 determines whether the current object information (B1, B2 in FIG. 3) detected by the object detection unit 811 is out of the access range of the reference object information, , B2) and the reference object information.

When the current object information (B1, B2 in Fig. 3) determined by the parking space determination unit 812 is out of the access range of the reference object information, the identification unit 816 identifies the parking space of the current vehicle (V in Fig. 3) 3), or when the current object information (B1, B2 in FIG. 3) determined by the parking space determination unit 812 is the approach range of the reference object information, (A in Fig. 3) in a non-parkable state.

At this time, although not shown, the identification unit 816 may be provided as at least one of a vehicle speaker (not shown) and a light emitting member (not shown) so that voice operation of a vehicle speaker (not shown) 3) of the current vehicle (V in Fig. 3) can be identified by the at least one operation during the operation, or the parking space (A in Fig. 3) Can be identified as being in a parkable state.

A parking assistance method for assisting parking using the parking assist device 800 according to the third embodiment of the present invention will be described with reference to FIGS. 9 and 10. FIG.

FIG. 9 is a flowchart showing a parking assisting method of a parking assisting apparatus according to a third embodiment of the present invention, and FIG. 10 is a flowchart showing an example of a parking assisting method of a parking assisting apparatus according to a third embodiment of the present invention.

9 and 10, the parking assisting method 900, 1000 of the parking assisting device 800 of FIG. 8 according to the third embodiment of the present invention includes a parking space photographing step S402, (Step S404), a parking space display step S406, an object detection step S907a, a parking space determination step S907b and S1007b, a parking space notification step S607c, a parking availability identification step S907d and S1007d, Operation step S408.

First, the parking space photographing step S402 receives a parking mode operation signal from the parking mode operation device (10 in Fig. 8) at the time of parking the vehicle (V in Fig. 3) A parking space (A in Fig. 3) in the peripheral area of the current vehicle (V in Fig. 3) is photographed in the parking space photographing part (102 in Fig. 8).

Subsequently, the parking space image data correction step (S404) corrects the parking space image data corresponding to the current parking space (A in Fig. 3) in the peripheral area of the current vehicle (V in Fig. 3) The parking space image data is received and corrected in the parking space image data correction unit (104 in FIG. 8) to the current birds eye view image data including the current parking space image data.

Thereafter, the parking space display step S406 displays the current left and right parallel parking space image data corresponding to the current birds eye view image data corrected in the parking space image data correcting unit (104 in Fig. 8) and the current left and right right parking space image data (806 in FIG. 8) and displays the current parking space image data in the parking space display unit (108 in FIG. 8) under the control of the control unit (806 in FIG. 8).

8) of the image data having the image frame corresponding to at least one of the current parking space image data is controlled in accordance with the control of the control unit (806 in Fig. 8) in the parking space display step (S406) And displaying image data having an image-specific frame for a predetermined period of time.

Thereafter, the object detection step S907a performs a step of detecting the current object information (B1 and B2 in Fig. 3) present in the current parking space (A in Fig. 3) .

Here, although not shown, the object detection step S907a may include an object detection unit 811, a CCD image sensor (not shown), a CMOS image sensor (not shown), an infrared sensor (not shown), an ultrasonic sensor And a radar sensor (not shown).

Thereafter, the parking space determination step S907b determines whether or not at least one current parking space image data corrected in the parking space image data correction section (104 in Fig. 8) is the reference left and right parallel parking space images set in the control section (806 in Fig. 8) (812 of FIG. 8) according to the control of the control unit (806 of FIG. 8) to determine whether it is at least one reference parking space image data range of the data range and the reference right and left angle parking space image data range do.

8) of the reference object information set in the control unit (806 in Fig. 8), which is detected by the object detection unit (811 in Fig. 8) 812 of FIG. 8) according to the control of the control unit 806 (FIG. 8).

For example, as shown in FIG. 10, the parking space determination step (S1007b) determines whether the current parking space image pattern corresponding to at least one current parking space image data corresponds to at least one reference parking space image data range It is possible to perform the step of determining whether the range of the image pattern is determined by the parking space determination unit 812 of FIG. 8 according to the control of the control unit 806 of FIG.

The parking space determination step S1007b determines whether the current object information (B1, B2 in Fig. 3) detected by the object detection unit (811 in Fig. 8) is out of the access range of the reference object information, 8, 812), it is possible to perform the step of determining the range of the distance between the current object information (B1, B2 in FIG. 3) and the reference object information.

Thereafter, in the parking space notification step S607c, when at least one current parking space image data determined in the parking space determination unit 812 in FIG. 8 is at least one reference parking space image data range, at least one current parking space (514 in Fig. 8) of the current parking space corresponding to the image data (A in Fig. 3).

At this time, although not shown in the parking space notification step S607c, the parking space notification unit (514 in Fig. 8) is provided as a vehicle speaker (not shown) so that at least one current parking space It may be a step of notifying the status of the current parking space (A in Fig. 3) corresponding to the image data.

After that, the parking availability identification step S907d determines whether or not the current object information (B1, B2 in FIG. 3) determined by the parking space determination unit 812 in FIG. 8 is out of the approach range of the reference object information, (A in Fig. 3) of the current vehicle (V in Fig. 3) when the current object information (B1, B2 in Fig. 3) .

For example, as shown in FIG. 10, the first parking availability identification step (S1007d-1) during the parking availability identification step (S1007d) includes the current object information (FIG. 3 (A in Fig. 3) of the current vehicle (V in Fig. 3) to be able to be parked in the identification portion (816 in Fig. 8) when the B1 and B2 of the vehicle are out of the access range of the reference object information Can be performed.

8) is provided as at least one of a vehicle speaker (not shown) and a light-emitting member (not shown), and the vehicle-use speaker (step S1007d-1) (FIG. 3, A) of the current vehicle (V in FIG. 3) is made available for parking by at least one of the voice operation of the light emitting member (not shown) and the green light emitting operation of the light emitting member I can do it.

On the other hand, as shown in FIG. 10, the second parking availability discriminating step S1007d-2 of the parking availability discriminating step S1007d discriminates the current object information (FIG. 3 (A in Fig. 3) of the current vehicle (V in Fig. 3) to the non-parking state in the identification portion (816 in Fig. 8) when the B1, B2 of the vehicle I can do it.

8) is provided as at least one of a vehicle speaker (not shown) and a light emitting member (not shown), and the vehicle-use speaker (not shown) 3) of the current vehicle (V in Fig. 3) to a non-parkable state by at least one of the voice operation of the light emitting member (not shown) and the red light emitting operation of the light emitting member I can do it.

Finally, the parking operation step S408 confirms at least one current parking space image data displayed in the parking space display portion (108 in Fig. 8) and controls the steering driver (Fig. 8 (FIG. 3A) for parking the corresponding parking space (A in FIG. 3) in the parking space (110 in FIG. 3).

The parking assisting device 800 and the parking assisting methods 900 and 1000 according to the third embodiment of the present invention include a parking space photographing part 102, a parking space image data correcting part 104, a controller 806 A parking space display unit 108, a steering driving unit 110, an object detection unit 811, a parking space determination unit 812, a parking space notification unit 514, and an identification unit 816.

Therefore, the parking assist device 800 and its assistant parking methods 900 and 1000 according to the third embodiment of the present invention can be implemented by the parking space image data corrector 104 in one pressing operation of the parking mode device 10, At least one current parking space image data of the current left and right parallel parking space image data corresponding to the current birds eye view image data corrected in the current space and the current right and left square parking space image data is displayed in the parking space display unit 108, It is possible to check at least one current parking space image data displayed in the parking space 108 and to park the parking space A in the corresponding parking space A, so that reliability of parking can be improved.

The parking assisting device 800 and the parking assisting methods 900 and 1000 according to the third embodiment of the present invention include at least one current parking space having an image- Since the image data corresponding to the image data is individually displayed, at least one current parking space image data can be quickly checked, and the parking space A can be parked more quickly.

The parking assisting device 800 and the parking assisting methods 900 and 1000 according to the third embodiment of the present invention may be configured such that at least one current parking space image data determined by the parking space judging unit 512 includes at least one reference In the case of the parking space image data range, the parking space notification unit 514 informs the parking space notification unit 514 of the status of the current parking space A corresponding to at least one of the current parking space image data, It becomes possible.

The parking assisting device 800 and the parking assisting methods 900 and 1000 according to the third embodiment of the present invention are configured such that the current object information B1 and B2 determined by the parking space determining unit 812 It is possible to identify whether or not the current parking space A of the current vehicle V can be enabled when the current object information B1 or B2 determined by the parking space determining unit 812 is in the approach range of the reference object information .

Therefore, the parking assisting device 800 and the parking assisting methods 900, 1000 according to the third embodiment of the present invention can prevent the collision of the vehicle V by the contact with the current object information B1, B2 Therefore, it is possible to further improve the convenience of parking while further improving the reliability of parking.

It will be understood by those skilled in the art that the present invention may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. Therefore, it should be understood that the above-described embodiments are to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than the foregoing description, It is intended that all changes and modifications derived from the equivalent concept be included within the scope of the present invention.

Claims (12)

A parking space photographing unit for receiving a parking mode operation signal from a parking mode operation device when the vehicle is parked and photographing a parking space in a peripheral area of the current vehicle using an AVM (Around View Monitor) camera;
A parking space image data providing unit for receiving the current parking space image data corresponding to the parking space of the peripheral area of the current vehicle photographed by the parking space photographing unit and correcting the current parking space image data including the current parking space image data, The government;
A controller receiving at least one current parking space image data from current left and right parallel parking space image data corresponding to the current birds eye view image data corrected by the parking space image data correcting unit and current left and right square parking space image data;
The controller displays the image data having the image frame corresponding to at least one current parking space image data corrected by the parking space image data correction unit separately A parking space display unit; And
And a steering driver for driving at least one current parking space image data displayed by the parking space display unit and driving the steering driving device for parking the parking space under the control of the control unit to park the parking space in the corresponding parking space Parking aid.
The method according to claim 1,
Wherein the control unit further includes a reference left and right parallel parking space image data range and a reference right and left right parking space image data range;
Wherein the at least one current parking space image data corrected by the parking space image data correction section is at least one reference parking space image data range of the reference left and right parallel parking space image data ranges and the reference left and right rectangular parking space image data ranges, According to the control of the parking space determining unit;
A parking space for informing a state of the current parking space corresponding to the at least one current parking space image data when the at least one current parking space image data determined by the parking space determination unit is the at least one reference parking space image data range; Further comprising a notification unit.
3. The method of claim 2,
The parking space determination unit may determine,
Wherein the control unit determines whether the current parking space image pattern corresponding to the at least one current parking space image data is a reference parking space image pattern range corresponding to the at least one reference parking space image data range, Parking assist device.
3. The method of claim 2,
Wherein the control unit further includes an access range of the already set reference object information;
Further comprising: an object sensing unit for sensing current object information present in the current parking space;
The parking space determination unit may determine,
Further determining whether the current object information detected by the object detection unit is out of the access range of the reference object information according to the control of the controller;
The parking space determination unit may identify the parking space of the current vehicle as a parking state when the current object information determined by the parking space determination unit is out of the access range of the reference object information, And an identification unit for identifying the current parking space of the current vehicle as a non-parking state when the information is within the accessible range.
5. The method of claim 4,
The parking space determination unit may determine,
Wherein the control unit determines whether the current object information detected by the object detection unit is out of the access range of the reference object information as an approach distance range between the current object information and the reference object information.
delete A parking space photographing step of receiving a parking mode operation signal from the parking mode operation device when the vehicle is parked and photographing the parking space in the surrounding area of the current vehicle using an AVM (Around View Monitor) camera;
The current parking space image data corresponding to the parking space of the peripheral area of the current vehicle photographed by the parking space photographing part is supplied to the parking space image data correction part and the current parking space image data is stored as the current birds eye view image data including the current parking space image data A parking space image data correcting step of correcting the parking space image data;
The image data corresponding to at least one current parking space image data among the current left and right parallel parking space image data corresponding to the current birds eye view image data corrected by the parking space image data correcting unit and the current left and right square parking space image data A parking space display step of individually displaying image data having a frame per image for a predetermined time in a parking space display unit under control of a control unit of the image data; And
The parking space control apparatus according to claim 1, further comprising: a display unit for displaying at least one current parking space image data displayed in the parking space display unit, and driving the steering driver for parking the corresponding parking space in the steering driver according to the control of the control unit, The parking assistance method comprising the steps of:
8. The method of claim 7,
After the parking space display step,
At least one current parking space image data corrected by the parking space image data correction unit is at least one reference parking space image data range out of a reference left and right parallel parking space image data range set in the control unit and a reference right and left square parking space image data range A parking space determination step of determining a parking space according to the control of the control unit;
Wherein when the current parking space image data determined by the parking space determination unit is in the range of the at least one reference parking space image data, the status of the current parking space corresponding to the at least one current parking space image data is notified as a parking space notification The parking assistant step further performs the parking space reminder step announced by the department.
9. The method of claim 8,
The parking space determination step may include:
The controller determines whether the current parking space image pattern corresponding to the at least one current parking space image data is a reference parking space image pattern range corresponding to the at least one reference parking space image data range, The parking assisting method comprising the steps of:
9. The method of claim 8,
After the parking space display step,
Further comprising: an object detection step of detecting the current object information present in the current parking space by the object detection unit;
The parking space determination step may include:
Determining whether the current object information sensed by the object sensing unit is out of the access range of the reference object information set in the control unit according to the control of the control unit;
After the parking space notification step,
The parking space determination unit may identify the parking space of the current vehicle as being available for parking if the current object information determined by the parking space determination unit is out of the access range of the reference object information, Further comprising the step of identifying whether or not the current parking space of the current vehicle is in a state of being unable to park in the identification unit when the reference object information is within the access range of the reference object information.
11. The method of claim 10,
The parking space determination step may include:
Wherein the parking space determination unit determines whether the current object information detected by the object detection unit is out of the access range of the reference object information as an approach distance range between the current object information and the reference object information Parking Assist Method.
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