KR101679876B1 - Method for assisting a parking to adjust length of vehicle - Google Patents

Method for assisting a parking to adjust length of vehicle Download PDF

Info

Publication number
KR101679876B1
KR101679876B1 KR1020110066488A KR20110066488A KR101679876B1 KR 101679876 B1 KR101679876 B1 KR 101679876B1 KR 1020110066488 A KR1020110066488 A KR 1020110066488A KR 20110066488 A KR20110066488 A KR 20110066488A KR 101679876 B1 KR101679876 B1 KR 101679876B1
Authority
KR
South Korea
Prior art keywords
vehicle
obstacle
distance
parking
detected
Prior art date
Application number
KR1020110066488A
Other languages
Korean (ko)
Other versions
KR20130005106A (en
Inventor
서광원
Original Assignee
현대자동차주식회사
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 현대자동차주식회사 filed Critical 현대자동차주식회사
Priority to KR1020110066488A priority Critical patent/KR101679876B1/en
Publication of KR20130005106A publication Critical patent/KR20130005106A/en
Application granted granted Critical
Publication of KR101679876B1 publication Critical patent/KR101679876B1/en

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/06—Automatic manoeuvring for parking
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
    • B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
    • B60R21/013—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over
    • B60R21/0134—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over responsive to imminent contact with an obstacle, e.g. using radar systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/025—Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation
    • B62D15/0265—Automatic obstacle avoidance by steering
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/027—Parking aids, e.g. instruction means
    • B62D15/028—Guided parking by providing commands to the driver, e.g. acoustically or optically
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/027—Parking aids, e.g. instruction means
    • B62D15/0285—Parking performed automatically
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
    • G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
    • G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
    • G06V20/586—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads of parking space
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B60W2050/143—Alarm means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
    • B60W2420/54—Audio sensitive means, e.g. ultrasound
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2552/00—Input parameters relating to infrastructure
    • B60W2552/50—Barriers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2300/00—Purposes or special features of road vehicle drive control systems
    • B60Y2300/06—Automatic manoeuvring for parking
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2300/00—Purposes or special features of road vehicle drive control systems
    • B60Y2300/08—Predicting or avoiding probable or impending collision

Abstract

본 발명은 차량 전장 가변 주차지원 방법에 관한 기술이다.
본 발명에 따른 차량 전장 가변 주차지원 방법은, 차속이 설정된 속도 이상인 상태에서 차량 주변의 장애물을 감지하는 과정과, 상기 차량 주변의 장애물이 감지되면, 상기 장애물까지의 거리를 산출하는 과정과, 상기 장애물까지의 거리 변화없이 설정된 시간 이상 연속으로 상기 장애물이 감지되는지를 판단하여 상기 장애물이 차량 부속물인지 여부를 판단하는 과정과, 상기 장애물이 차량 부속물인 경우, 상기 장애물까지의 거리를 차량의 전장 길이에 포함시켜 총 차량 전장길이를 증대시키는 과정과, 상기 총 차량 전장길이에 준하여 주차를 보조하는 과정을 포함한다.The present invention relates to a vehicle full length variable parking support method.
A method for supporting variable vehicle parking in a vehicle according to the present invention includes the steps of detecting an obstacle around a vehicle in a state in which a vehicle speed is equal to or higher than a predetermined speed and calculating a distance to the obstacle when an obstacle around the vehicle is detected; Determining whether or not the obstacle is sensed continuously for a predetermined time or more without changing the distance to the obstacle and determining whether the obstacle is a vehicle adjunct; determining whether the obstacle is a vehicle adjunct, To thereby increase the total length of the vehicle, and aiding parking in accordance with the total length of the vehicle.

Description

차량 전장 가변 주차지원 방법{Method for assisting a parking to adjust length of vehicle} BACKGROUND OF THE INVENTION 1. Field of the Invention [0001]

본 발명은 차량 전장 가변 주차지원 방법에 관한 것으로, 더욱 상세하게는 차량 후방에 장착된 부속물을 감지하고 부속물의 길이를 고려하여 주차 지원을 수행하도록 하는 기술이다.BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a vehicle full length variable parking assist method, and more particularly, to a parking assist system that detects an accessory mounted on the rear of a vehicle and takes care of the length of the accessory.

최근 차량이 고도로 지능화됨에 따라 차량에 탑재된 각종 센서를 이용하여 여러가지 지능화 기능을 수행하는데 그 중에서 초음파 센서 등을 이용하여 장애물과의 거리를 측정하여 주차를 지원하는 주차 보조 시스템(PAS:Parking Assist System)이 있다.Recently, as the vehicle is highly intelligent, various intelligent functions are performed by using various sensors mounted on the vehicle. Among them, a parking assist system (PAS) which measures the distance from an obstacle by using an ultrasonic sensor, ).

주차 보조 시스템은 차량 후측면의 장애물을 감지하여 장애물과 충돌하지 않도록 주차를 지원하게 되는데, 차량의 후측면에 캐리어 등의 트레일러(TRAILER)를 장착한 경우 트레일러를 차량과 분리된 장애물로 감지하여 주차 지원에 오차가 발생하거나 트레일러 또는 트레일러 연결봉을 아예 감지하지 못하고 주차 지원을 수행하여 트레일러가 주차 벽면 또는 옆 차량과 충돌하게 되는 문제점이 있다.The parking assist system detects the obstacles on the rear side of the vehicle and supports parking so as not to collide with obstacles. When a trailer such as a carrier is mounted on the rear side of the vehicle, the trailer is detected as an obstacle separated from the vehicle, There is a problem that an error occurs in the support or the trailer does not detect the connecting rod of the trailer at all and carries the parking support so that the trailer collides with the parking wall or the side vehicle.

본 발명의 목적은 차량의 후측면에 트레일러 장착 여부를 감지하고 트레일러를 장착한 차량에 대해 차량 전장의 길이를 증대시켜 인식함으로써 주차 지원 효율을 향상시키는데 있다.An object of the present invention is to improve the parking support efficiency by sensing whether a trailer is mounted on a rear side of a vehicle and increasing the length of a vehicle full length to a vehicle equipped with a trailer.

상기와 같은 목적을 달성하기 위한 본 발명에 따른 차량 전장 가변 주차지원 방법은, 차속이 설정된 속도 이상인 상태에서 차량 주변의 장애물을 감지하는 과정과, 상기 차량 주변의 장애물이 감지되면, 상기 장애물까지의 거리를 산출하는 과정과, 상기 장애물까지의 거리 변화없이 설정된 시간 이상 연속으로 상기 장애물이 감지되는지를 판단하여 상기 장애물이 차량 부속물인지 여부를 판단하는 과정과, 상기 장애물이 차량 부속물인 경우, 상기 장애물까지의 거리를 차량의 전장 길이에 포함시켜 총 차량 전장길이를 증대시키는 과정과, 상기 총 차량 전장길이에 준하여 주차를 보조하는 과정을 포함한다.According to another aspect of the present invention, there is provided a method for supporting variable vehicle parking, including the steps of: detecting an obstacle around a vehicle in a state where a vehicle speed is equal to or higher than a predetermined speed; Calculating a distance between the obstacle and the obstacle, determining whether the obstacle is detected continuously for a predetermined time or more without changing the distance to the obstacle, and determining whether the obstacle is a vehicle attachment; The length of the total length of the vehicle is included in the total length of the vehicle to increase the length of the total length of the vehicle, and a step of assisting the parking in accordance with the total length of the vehicle.

또한, 상기 장애물까지의 거리를 산출하는 과정은, 복수개의 초음파 센서가 감지한 장애물까지의 거리값을 이용하여, 삼각측정법으로 상기 장애물가지의 거리를 산출하는 것을 특징으로 한다.In the calculating the distance to the obstacle, the distances of the obstacle branches are calculated by the triangulation method using the distances to the obstacles sensed by the plurality of ultrasonic sensors.

또한, 상기 차량 주변의 장애물이 감지되면, 경고음을 출력하는 과정과, 상기 장애물이 차량 부속물인 경우, 상기 경고음 출력을 중지하는 과정을 더 포함하는 것을 특징으로 한다.The method may further include a step of outputting a warning sound when an obstacle around the vehicle is detected, and a step of stopping the output of the warning sound when the obstacle is a vehicle accessory.

또한, 상기 장애물이 외부 장애물로 인식되면 기존 차량 전장 길이로 주차 지원을 수행하는 과정을 더 포함하는 것을 특징으로 한다.In addition, the method further includes a step of performing parking assistance to the existing vehicle full length when the obstacle is recognized as an external obstacle.

또한, 상기 장애물이 차량 부속물인지 여부를 판단하는 과정은, 상기 장애물까지의 거리 변화없이 설정된 시간 이상 연속으로 상기 장애물이 감지되면 상기 장애물이 차량 부속물인 것으로 판단하는 것을 특징으로 한다.The determining whether the obstacle is a vehicle attachment may include determining that the obstacle is a vehicle attachment if the obstacle is continuously detected for a predetermined time or longer without changing the distance to the obstacle.

상기와 같이 본 발명은 차량의 후측면에 부속물 장착 여부를 감지하고 부속물을 장착한 차량에 대해 부속물의 차량영역에 추가하여 차량 전장의 길이를 증대시켜 인식함으로써 안전한 자동 주차가 이루어질 수 있도록 하는 효과가 있다.As described above, the present invention senses whether or not an accessory is attached to the rear side of a vehicle, increases the length of the vehicle's total length in addition to the vehicle area of the accessory for the vehicle equipped with the accessory, have.

도 1은 본 발명의 실시예에 따른 차량 전장 가변 주차지원 시스템의 구성도.
도 2는 본 발명의 실시예에 따른 차량 전장 가변 주차지원 방법을 나타내는 순서도.
도 3은 본 발명의 실시예에 따른 초음파 센서를 이용하여 부속물 감지 방법을 설명하기 위한 도면.
도 4는 본 발명의 실시예에 따른 초음파 센서를 이용하여 부속물 길이를 감지하는 방법을 설명하기 위한 도면.
도 5는 본 발명의 실시예에 따른 차량 전장 가변 주차 지원 예를 설명하기 위한 도면.BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a configuration diagram of a vehicle full length variable parking support system according to an embodiment of the present invention; FIG.
FIG. 2 is a flowchart showing a method for supporting variable parking of a vehicle according to an embodiment of the present invention; FIG.
3 is a view for explaining an accessory detection method using an ultrasonic sensor according to an embodiment of the present invention.
4 is a view for explaining a method of detecting an attachment length using an ultrasonic sensor according to an embodiment of the present invention.
5 is a view for explaining an example of variable vehicle parking support according to an embodiment of the present invention.

이하, 본 발명의 일부 실시예들을 예시적인 도면을 통해 상세하게 설명한다. 각 도면의 구성요소들에 참조부호를 부가함에 있어서, 동일한 구성요소들에 대해서는 비록 다른 도면상에 표시되더라도 가능한 한 동일한 부호를 가지도록 하고 있음에 유의해야 한다. 또한, 본 발명의 실시예를 설명함에 있어, 관련된 공지 구성 또는 기능에 대한 구체적인 설명이 본 발명의 실시예에 대한 이해를 방해한다고 판단되는 경우에는 그 상세한 설명은 생략한다.Hereinafter, some embodiments of the present invention will be described in detail with reference to exemplary drawings. It should be noted that, in adding reference numerals to the constituent elements of the drawings, the same constituent elements are denoted by the same reference symbols as possible even if they are shown in different drawings. In the following description of the embodiments of the present invention, a detailed description of known functions and configurations incorporated herein will be omitted when it may make the difference that the embodiments of the present invention are not conclusive.

본 명세서에서 개시된 교통수단 또는 그와 유사한 용어는 스포츠 기능 차량(SUV), 버스, 트럭, 다양한 상업차량을 포함하는 승용 자동차, 다양한 보트와 배를 포함하는 워터크래프트(watercraft), 에어크래프트(aircraft) 등등과 같은 모터 차량, 하이브리드(hybrid) 차량, 전기차량, 플러그인 하이브리드 전기차량, 수소(hydrogen-powered)차량, 그 밖의 다른 연료를 이용하는 차량(예를 들어, 석유외의 연료를 이용하는 차량)들을 포함한다. 특히, 상술한 하이브리드 차량은 2개 또는 그 이상의 자원(예를 들어, 가솔린과 전기 에너지 둘 다 이용하는 차량)을 이용한 차량이다.The transportation means or the like disclosed herein may be used in various applications such as sport utility vehicles (SUVs), buses, trucks, passenger cars including various commercial vehicles, watercraft including various boats and boats, (E.g., vehicles that use fuels other than petroleum), such as motor vehicles, such as motor vehicles, hybrid vehicles, electric vehicles, plug-in hybrid electric vehicles, hydrogen-powered vehicles, . In particular, the hybrid vehicle described above is a vehicle using two or more resources (e.g., vehicles that use both gasoline and electric energy).

본 발명은 트레일러 등 차량 부속물을 장착한 차량에 대한 주차 보조 시스템(PAS:Parking Assist System)에 적용되는 예를 개시하고 있으나 본 발명은 차량 주변의 장애물을 감지하는 기술을 적용하는 모든 기술에 적용될 수 있다.Although the present invention is applied to a parking assist system (PAS) for a vehicle equipped with a vehicle accessory such as a trailer, the present invention can be applied to all technologies applying a technology for detecting an obstacle around the vehicle have.

도 1은 본 발명의 실시예에 따른 차량 전장 가변 주차지원 시스템의 구성도이다.1 is a configuration diagram of a vehicle full length variable parking support system according to an embodiment of the present invention.

본 발명의 실시예에 따른 차량 전장 가변 주차지원 시스템은 스위치(100), 초음파센서(200), 제어부(300), MDPS(MotorDriven Power Steering;400), 경고음 출력부(500), 클러스터(600)를 구비한다.The vehicle full length variable parking support system according to the embodiment of the present invention includes a switch 100, an ultrasonic sensor 200, a controller 300, an MDPS 400, a warning sound output unit 500, Respectively.

스위치(100)는 사용자에 의해 조작되어 온(ON)되면 그 신호를 제어부(300)에 전달하여 주차 지원 모드로 진입하도록 한다.When the switch 100 is turned on by the user, the switch 100 transmits the signal to the controller 300 to enter the parking assist mode.

초음파센서(200)는 도 3과 같이, 차량 전후방, 좌우측면 등에 복수개(210~240) 설치되어 차량 주변의 장애물(트레일러 등의 부속물 포함;700)의 존재를 감지한다.As shown in FIG. 3, a plurality of ultrasonic sensors 200 are installed on the front, rear, right and left sides of the vehicle to detect the presence of an obstacle (including an accessory such as a trailer) 700 around the vehicle.

제어부(300)는 초음파센서(200)의 감지결과를 이용하여 차량 측후면에 장애물이 감지되면 경고음 출력부(500)를 제어하여 경고음을 출력하도록 하고, 일정 속도 이상 주행하는 상태에서 차량 측후면에 장애물이 일정 시간 이상 연속 동일 거리에서 감지되면 그 장애물이 차량의 부속물인 것으로 판단하여 경고음 출력부(500)를 오프 시킨다. 이때, 제어부(300)는 차량부속물을 차량 전장에 포함시켜 차량 전장 길이를 증대시킨 후 주차 보조를 수행하도록 한다.The control unit 300 controls the alarm sound output unit 500 to output a warning sound when an obstacle is detected on the rear side of the vehicle using the detection result of the ultrasonic sensor 200, If the obstacle is detected at the same distance continuously for a predetermined time or more, it is determined that the obstacle is an accessory of the vehicle, and the warning sound output unit 500 is turned off. At this time, the control unit 300 increases the length of the vehicle's length by including the vehicle accessory in the vehicle's total length, and then performs the parking assistance.

MDPS(400)는 제어부(300)에 의해 제어되어 주차 지원을 위한 차량 조향을 제어한다.The MDPS 400 is controlled by the control unit 300 to control the vehicle steering for parking assistance.

경고음 출력부(500)는 제어부(300)에 의해 제어되어 차량 측후면에 장애물이 존재하는 경우 경고음을 출력하고 장애물이 차량 부속물인 경우 경고음 출력을 중단한다.The alarm sound output unit 500 is controlled by the controller 300 to output a warning sound when an obstacle is present on the vehicle-side rear surface, and to stop the warning sound output when the obstacle is a vehicle accessory.

클러스터(600)는 제어부(300)에 의해 제어되어 차량의 주차 상태, 동작 상황(경고음 출력여부, 장애물 감지 상태 등)을 화면에 표시하여 운전자가 쉽게 확인할 수 있도록 한다.
The cluster 600 is controlled by the control unit 300 so that the driver can easily check the parking state and the operation state of the vehicle (whether or not a warning sound is output, an obstacle detection state, etc.) on the screen.

이하, 도 2를 참조하여, 본 발명의 실시예에 따른 차량 전장 가변 주차지원 방법을 설명하기로 한다.Hereinafter, referring to FIG. 2, a description will be made of a vehicle full length variable parking support method according to an embodiment of the present invention.

먼저, 스위치(100)가 온(ON) 되면(S101) 제어부(300)는 차량을 주차지원모드로 진입시키고 현재 차속이 설정된 속도(예, 5KPH) 이상인지를 판단한다(S102).First, when the switch 100 is turned on (S101), the controller 300 enters the parking assisting mode and determines whether the current vehicle speed is equal to or higher than a predetermined speed (e.g., 5 KPH) (S102).

그 후, 현재 차속이 설정된 속도 이상인 경우, 제어부(300)는 초음파 센서(200)에 의해 장애물이 감지되었는지 여부를 판단한다(S103).Thereafter, if the current vehicle speed is equal to or higher than the predetermined speed, the control unit 300 determines whether an obstacle is detected by the ultrasonic sensor 200 (S103).

이에, 장애물이 감지되면, 제어부(300)는 경보음 출력부(500)를 제어하여 경보음을 출력하고 장애물의 거리(L1)를 산출한다(S104). 이때, 장애물의 거리(L1)는 도 4와 같이, 초음파센서(210, 220)를 통해 각각 측정된 거리(D1, D2)를 이용하여 삼각 측정법으로 산출된다.If an obstacle is detected, the control unit 300 controls the alarm sound output unit 500 to output an alarm sound and calculate the distance L1 of the obstacle (S104). At this time, the distance L1 of the obstacle is calculated by the triangulation method using the distances D1 and D2 measured through the ultrasonic sensors 210 and 220, respectively, as shown in FIG.

그 후, 제어부(300)는 장애물이 거리 변화없이 설정된 시간(예, 5초) 이상 연속으로 감지되는지를 판단하고(S105), 상기 판단 결과, 연속적으로 감지되지 않거나 설정된 시간 이하로 감지된 경우 장애물을 외부 장애물(주차장 벽면, 옆 차량 등)로 인식하여(S106), 기존 차량 전장 길이(L2)로 주차 지원을 수행한다(S107).Thereafter, the control unit 300 determines whether the obstacle is continuously detected for a predetermined time (e.g., 5 seconds) without changing the distance (S105). If it is determined that the obstacle is not continuously detected Is recognized as an external obstacle (parking lot wall side, side car, etc.) (S106), and parking support is performed to the existing vehicle full length L2 (S107).

한편, 상기 판단 결과 장애물이 거리 변화없이 설정된 시간 이상 연속으로 감지된 경우, 제어부(300)는 감지된 장애물을 차량에 설치된 부속물로 인식하고(S108), 경고음 출력을 중단시킨다(S109).If the obstacle is continuously detected for a predetermined time or longer without changing the distance, the controller 300 recognizes the detected obstacle as an adjunct installed in the vehicle (S108) and stops outputting the warning sound (S109).

그 후, 제어부(300)는 장애물의 거리(L1)를 기존 차량 전장 길이(L2)에 포함시켜 총 차량 전장 길이(L3)을 산출하고(S110), 산출된 총 차량 전장 길이(L3)을 이용하여 주차 지원을 수행한다(S111).Thereafter, the controller 300 calculates the total vehicle length L3 by including the distance L1 of the obstacle in the existing vehicle full-length length L2 (S110), and uses the calculated total vehicle full-length length L3 And carries out parking support (S111).

도 5에 도시한 바와 같이, 본 발명은 주차 지원 시 차량 주변 장애물이 차량에 부착된 부속물인지 외부 장애물인지 여부를 판단하여, 차량에 부착된 부속물(700)인 경우 차량에 부착된 부속물(700)까지 차량의 전장으로 포함시켜 주차를 지원함으로써 차량 부속물에 의한 충돌을 방지할 수 있도록 한다.As shown in FIG. 5, the present invention determines whether an obstacle around the vehicle is attached to the vehicle or an external obstacle when the vehicle is parked. When the vehicle 700 is attached to the vehicle, To be included in the battlefield of the vehicle so as to prevent the collision by the vehicle accessory.

이상의 설명은 본 발명의 기술 사상을 예시적으로 설명한 것에 불과한 것으로서, 본 발명이 속하는 기술 분야에서 통상의 지식을 가진 자라면 본 발명의 본질적인 특성에서 벗어나지 않는 범위에서 다양한 수정 및 변형이 가능할 것이다. 따라서, 본 발명에 개시된 실시예들은 본 발명의 기술 사상을 한정하기 위한 것이 아니라 설명하기 위한 것이고, 이러한 실시예에 의하여 본 발명의 기술 사상의 범위가 한정되는 것은 아니다. 본 발명의 보호 범위는 아래의 청구범위에 의하여 해석되어야 하며, 그와 동등한 범위 내에 있는 모든 기술 사상은 본 발명의 권리범위에 포함되는 것으로 해석되어야 할 것이다.The foregoing description is merely illustrative of the technical idea of the present invention, and various changes and modifications may be made by those skilled in the art without departing from the essential characteristics of the present invention. Therefore, the embodiments disclosed in the present invention are intended to illustrate rather than limit the scope of the present invention, and the scope of the technical idea of the present invention is not limited by these embodiments. The scope of protection of the present invention should be construed according to the following claims, and all technical ideas within the scope of equivalents should be construed as falling within the scope of the present invention.

100 : 스위치
200, 210, 220, 230, 240 : 초음파센서
300 : 제어부
400 : MDPS(MotorDriven Power Steering)
500 : 경고음 출력부
600 : 클러스터
700 : 차량부속물
800 : 범퍼100: Switch
200, 210, 220, 230, 240: Ultrasonic sensor
300:
400: Motor Driven Power Steering (MDPS)
500: Warning sound output section
600: Cluster
700: vehicle accessory
800: Bumper

Claims (5)

차속이 설정된 속도 이상인 상태에서 차량 주변의 장애물을 감지하는 과정;
상기 차량 주변의 장애물이 감지되면, 상기 장애물까지의 거리를 산출하는 과정;
상기 장애물까지의 거리 변화없이 설정된 시간 이상 연속으로 상기 장애물이 감지되는지를 판단하여 상기 장애물이 차량 부속물인지 여부를 판단하는 과정;
상기 장애물이 차량 부속물인 경우, 상기 장애물까지의 거리를 차량의 전장 길이에 포함시켜 총 차량 전장길이를 증대시키는 과정; 및
상기 총 차량 전장길이에 준하여 주차를 보조하는 과정
을 포함하는 차량 전장 가변 주차지원 방법.Detecting an obstacle around the vehicle in a state where the vehicle speed is equal to or higher than the set speed;
Calculating a distance to the obstacle when an obstacle around the vehicle is detected;
Determining whether the obstacle is detected as a vehicle adjunct by determining whether the obstacle is continuously detected for a predetermined time or longer without changing the distance to the obstacle;
Increasing the total length of the vehicle by including the distance to the obstacle in the length of the vehicle when the obstacle is a vehicle accessory; And
A process of assisting parking in accordance with the total length of the vehicle
The method comprising the steps of: 청구항 1에 있어서,
상기 장애물까지의 거리를 산출하는 과정은,
복수개의 초음파 센서가 감지한 장애물까지의 거리값을 이용하여, 삼각측정법으로 상기 장애물까지의 거리를 산출하는 것을 특징으로 하는 차량 전장 가변 주차지원 방법.The method according to claim 1,
The step of calculating the distance to the obstacle may include:
Wherein the distance to the obstacle is calculated by a triangulation method using the distance value to the obstacle detected by the plurality of ultrasonic sensors. 청구항 1 또는 2에 있어서,
상기 차량 주변의 장애물이 감지되면, 경고음을 출력하는 과정; 및
상기 장애물이 차량 부속물인 경우, 상기 경고음 출력을 중지하는 과정
을 더 포함하는 것을 특징으로 하는 차량 전장 가변 주차지원 방법.The method according to claim 1 or 2,
Outputting a warning sound when an obstacle around the vehicle is detected; And
If the obstacle is a vehicle accessory, stopping the output of the warning sound
Further comprising the step of: 청구항 1 또는 2에 있어서,
상기 장애물이 외부 장애물로 인식되면 기존 차량 전장 길이로 주차 지원을 수행하는 과정
을 더 포함하는 것을 특징으로 하는 차량 전장 가변 주차지원 방법.The method according to claim 1 or 2,
When the obstacle is recognized as an external obstacle,
Further comprising the step of: 청구항 1에 있어서,
상기 장애물이 차량 부속물인지 여부를 판단하는 과정은,
상기 장애물까지의 거리 변화없이 설정된 시간 이상 연속으로 상기 장애물이 감지되면 상기 장애물이 차량 부속물인 것으로 판단하는 것을 특징으로 하는 차량 전장 가변 주차지원 방법.The method according to claim 1,
The process of determining whether the obstacle is a vehicle attachment includes:
Wherein the controller determines that the obstacle is a vehicle accessory if the obstacle is continuously detected for a predetermined time or longer without changing the distance to the obstacle.
KR1020110066488A 2011-07-05 2011-07-05 Method for assisting a parking to adjust length of vehicle KR101679876B1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
KR1020110066488A KR101679876B1 (en) 2011-07-05 2011-07-05 Method for assisting a parking to adjust length of vehicle

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
KR1020110066488A KR101679876B1 (en) 2011-07-05 2011-07-05 Method for assisting a parking to adjust length of vehicle

Publications (2)

Publication Number Publication Date
KR20130005106A KR20130005106A (en) 2013-01-15
KR101679876B1 true KR101679876B1 (en) 2016-12-06

Family

ID=47836511

Family Applications (1)

Application Number Title Priority Date Filing Date
KR1020110066488A KR101679876B1 (en) 2011-07-05 2011-07-05 Method for assisting a parking to adjust length of vehicle

Country Status (1)

Country Link
KR (1) KR101679876B1 (en)

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3721911B2 (en) 2000-01-07 2005-11-30 いすゞ自動車株式会社 Trailer connection angle detector
JP2006256544A (en) 2005-03-18 2006-09-28 Aisin Seiki Co Ltd Reverse drive supporting system

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20050030802A (en) * 2003-09-26 2005-03-31 한국델파이주식회사 Parking assist system and controlling method thereof
KR100802805B1 (en) * 2006-07-25 2008-02-12 현대자동차주식회사 Back warning buzzer system for vehicle mounting trailer

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3721911B2 (en) 2000-01-07 2005-11-30 いすゞ自動車株式会社 Trailer connection angle detector
JP2006256544A (en) 2005-03-18 2006-09-28 Aisin Seiki Co Ltd Reverse drive supporting system

Also Published As

Publication number Publication date
KR20130005106A (en) 2013-01-15

Similar Documents

Publication Publication Date Title
US8744684B2 (en) Parking assist system and method for varying parking area
US7830243B2 (en) Dual mode vehicle blind spot system
JP5729480B2 (en) Vehicle driving support system
US9505435B2 (en) Method for pulling a vehicle into or out of a parking space and corresponding assistance system and vehicle
CN102725168A (en) Method for assisting a driver in detecting lateral objects
JP2010197351A (en) Obstacle detector
JP5388299B2 (en) Parking assistance device
CN105492277A (en) Driving assistance apparatus
CN103448720B (en) Automobile flat tire anti-knock into the back control method and control setup
CN101987596A (en) Parking assisting system and control method thereof
KR101439156B1 (en) Method for Sensing A Strong Wind and Controlling A Vehiclel Using A PAS
CN104071222A (en) Smart parking assist system and control method thereof
CN112406865A (en) Ultrasonic radar-based lane change auxiliary active safety system
KR20180091313A (en) System for scanning parking space based on sensor and method thereof
EP2696215A2 (en) Parking assist system
CN204472885U (en) Discretionary security control system under automobile turning operating mode
KR101747820B1 (en) Method for parking right angle and apparatus
JP2021509376A (en) A system and method for determining when an object detected by an anti-collision sensor on one vehicle body of an articulated vehicle includes another vehicle body of the vehicle.
CN103448702A (en) Method and device for controlling rear-end collision of vehicles in time of tire burst
KR101679876B1 (en) Method for assisting a parking to adjust length of vehicle
US20120310481A1 (en) Method for operating a driver assistance system of a motor vehicle and driver assistance system for a motor vehicle
CN103323852A (en) Ultrasonic obstacle detecting system for large vehicle
JP2015047045A (en) Drive support device
KR20140078872A (en) The integrated controlling method and device for blind spot warning and parking assistance
US9187089B2 (en) Method for operating a driver assistance system and driver assistance system

Legal Events

Date Code Title Description
A201 Request for examination
E701 Decision to grant or registration of patent right
GRNT Written decision to grant