KR101745044B1 - Apparatus and method for smart parking assist having inspection mode providing part - Google Patents

Abstract

The present invention relates to a parking assist system and method for automatically parking a vehicle and, more particularly, to a method and apparatus for automatically parking a vehicle by using sensor and wheel pulse values disposed in the vehicle, The present invention relates to a parking assist system and method for compensating an error of a travel distance of a vehicle so as to increase the reliability of a moving locus for parking the vehicle calculated by the parking assist steering electronic control unit, will be.
The present invention provides a parking assist system comprising a parking steering assist sensor unit including a plurality of ultrasonic sensors disposed on a side surface of a vehicle and sensing an object around the vehicle, An arithmetic unit for receiving a wheel distance between the ultrasonic sensor disposed on one side of the vehicle and a wheel pulse value acquired by the wheel sensor unit and generating a radius change signal of the wheel, An error storage unit for storing error information when the automatic parking failure of the vehicle fails, and an error storage unit for storing the error information when the error information satisfies a predetermined condition, And a check mode providing unit for providing an input value by providing a vehicle check mode to the vehicle.

Description

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

The present invention relates to a parking assist system and method for automatically parking a vehicle and, more particularly, to a method and apparatus for automatically parking a vehicle by using sensor and wheel pulse values disposed in the vehicle, A parking assist system and method for compensating an error of a travel distance of a vehicle to improve a reliability of a moving locus for parking a vehicle calculated by a parking steering assist electronic control unit and simultaneously providing an inspection mode for a failure of automatic parking .

Generally, the automobile is in a running state in which the driver obtains the power obtained by the gasoline engine and the diesel engine, or the speed change stage is automatically set by the vehicle speed of the vehicle and the opening amount of the throttle valve.

As the development of the vehicle becomes more active, the driver does not directly drive the vehicle in accordance with the driver's selection, judges the signal according to the running state by the sensor attached to the vehicle, and the vehicle is unmanned by the electronic control unit mounted on the vehicle There has been developed a technique for enabling the driver to enjoy the convenience and the safety of the operation.

In particular, in the field of driver assist systems, the parking assist system is a technology that is actually being used as a system to assist in parking the vehicle. Among the parking assist systems, the automatic parking system automatically detects an empty space in which the vehicle can be parked even if the driver does not steer the vehicle, and the system automatically parks the vehicle by steering the vehicle. So that the vehicle is automatically parked.

In order to automatically park the vehicle, the movement trajectory of the vehicle for the automatic parking should be calculated. Actually, the movement trajectory and the moving distance of the vehicle calculated by the vehicle equipped with the automatic parking system can be changed by changing the radius of the tire of the vehicle. There is a problem that a difference is generated between the moving distance.

In other words, when the accompanying image of the tire mounted on the vehicle is changed, the distance that the actual vehicle moves varies depending on the radius of the tire before and after the change of the radius of the tire. An odometer, There is a possibility that an object near the parking space may collide with a vehicle when the movement trajectory and the moving distance of the vehicle for automatic parking are calculated without recognizing the error of the parking space.

Korean Patent Publication No. 10-1999-0039188

SUMMARY OF THE INVENTION The present invention has been proposed in order to solve the above problems, and it is an object of the present invention to prevent a collision between a vehicle and another object generated by an odometer error in a parking path control, And to allow the driver of the vehicle to perceive the same radius change information of the tire which causes the odometer error.

It is another object of the present invention to provide a parking assist system and method capable of providing an operator with a check mode in the event of an automatic parking failure, analyzing the cause of the failure, and storing and recording an error.

In order to achieve the above object, a parking assist system including a check mode providing unit according to the present invention includes a plurality of parking steering aids spaced apart from a side surface of a vehicle and including an ultrasonic sensor for sensing an object around the vehicle, A wheel sensor unit disposed on each of a plurality of wheels of the vehicle to obtain a wheel pulse value, a mounting distance between the ultrasonic sensor disposed on one side of the vehicle, and a wheel pulse value acquired by the wheel sensor unit, A parking assistant electronic control unit for receiving the radius change signal obtained by the arithmetic unit and controlling the automatic parking of the vehicle, an error storage unit for storing the error information when the automatic parking failure of the vehicle fails, And a check mode providing unit for providing the driver with a vehicle check mode and providing an input value when the error information satisfies a predetermined condition It provides a parking steering assistance device, characterized in a.

The parking assist system of the present invention further includes a memory unit for storing the same radius change signal generated by the arithmetic operation unit, and the memory unit inputs the same radius change signal stored in the memory unit to the parking steering assist electronic control unit when the vehicle is restarted desirable.

The parking assist system of the present invention may further include an alarm unit for informing the user of the change of the radius of the wheel by receiving the same radius change signal generated by the operation unit and displaying the alarm or changing the alarm sound.

The operation unit of the parking assist system of the present invention compares the mounting distance between the ultrasonic sensors disposed on one side of the vehicle and the wheel pulse difference value generated while the vehicle is moving by the mounting distance between the ultrasonic sensors disposed on one side of the vehicle It is preferable to calculate the error value and generate the same radius change signal when the error value is equal to or larger than a predetermined value.

It is preferable that the wheel pulse difference value of the parking assist system of the present invention is an average value of the obtained wheel pulse difference values for the wheels of the plurality of vehicles in which the wheel sensor portions are disposed.

It is preferable that the check mode providing unit of the parking steering assist system of the present invention transfers the input value to the error storage unit, and the error storage unit stores the input value.

It is preferable that the preset condition of the parking assist system of the present invention is such that the number of times of storing the error information is equal to or greater than a reference number or the number of consecutive times of generating the error information is equal to or greater than the reference number.

The present invention also relates to a method of controlling a wheel, comprising: acquiring a wheel pulse value for acquiring a pulse value of a plurality of wheels of a vehicle; calculating a wheel pulse difference value generated during movement of the vehicle by a mounting distance between the ultrasonic sensors A step of calculating a pulse difference value, a step of comparing the wheel-pulse difference value with a mounting distance between the ultrasonic sensor disposed on one side of the vehicle and a sensor mounting distance and a wheel- A tire offset detecting step of detecting a tire offset when the error value calculated in the difference value comparing step is equal to or greater than a predetermined value; a step of compensating a tire offset when a tire offset is detected in the tire offset detecting step, A tire offset compensating or warning transmitting step of informing the driver of an error in the automatic parking failure of the vehicle, Step and provides a parking steering assistance method comprising: a receiving step checks if service to which the error information satisfies the preset condition, the input to the check mode provided with a driver provides a vehicle inspection mode value.

The parking assist steering assist method of the present invention preferably further includes a storing step of storing a tire offset in a memory unit when a tire offset is detected in the tire offset detecting step.

The wheel pulse difference value calculated in the wheel pulse difference value calculation step of the parking assist steering method of the present invention is preferably an average value of the obtained wheel pulse difference values for a plurality of wheels of the vehicle.

The tire offset compensation or alarm transmission step of the parking assist steering assist method of the present invention is a method of compensating for a tire offset or an alarm transmission step of transmitting a tire offset detected in a tire offset detecting step to a parking steering assist electronic control unit to control automatic parking of the vehicle, It is preferable to inform the user through a display or an alarm sound generating operation.

After the checking step of the parking assist steering method of the present invention, the check mode providing unit transmits the input value to the error storage unit, and the error storage unit stores the input value. .

It is preferable that the checking step of the parking assist steering method of the present invention occurs when the number of times of storing the error information is more than the reference number or the number of consecutive times of generating the error information is more than the reference number of times.

The parking assist system and method including the check mode providing unit according to the present invention recognize the change of the radius of the tire of the vehicle and by controlling the travel distance of the vehicle using the change of radius, This makes it possible to prevent collision between vehicles and other objects caused by odometer errors during control.

Further, there is an effect that the driver of the vehicle recognizes the radius of the changed tire by recognizing the change in the radius of the tire and informs the driver of the vehicle that the vehicle can be controlled.

Further, in recognizing the change in the radius of the tires, when the vehicle moves by the mounting distance of the sensors disposed on the vehicle, the difference value of the accumulated wheel pulse values is obtained. The wheel-pulse difference value is calculated and obtained so that all of the different tire radius information of each wheel mounted on the vehicle can be used, The moving distance can be reliably controlled.

Further, after recognizing the change in the radius of the tire after the change of the radius of the tire is recognized, the change radius information of the tire is stored through the memory means and transmitted to the parking steering assist electronic control unit, There is an effect that the automatic parking of the vehicle can be controlled by using the same radius change information of the vehicle.

In addition, when the automatic parking failure occurs, the driver is provided with the checking mode to analyze the cause of the failure, store the error, record the cause of the parking failure, and then reduce the parking failure rate.

The effects of the present invention are not limited to those mentioned above, and other effects not mentioned can be clearly understood by those skilled in the art from the following description.

1 is a conceptual diagram showing a conventional automatic parking assist system.
FIGS. 2 and 3 are conceptual diagrams showing the moving distance of the vehicle according to the radius of the tires.
4 is a configuration diagram of a parking assist system according to the present invention.
5 is a conceptual diagram showing a vehicle equipped with a parking steering assist sensor unit and a wheel sensor unit of the parking assist system according to the present invention.
6 is a schematic view showing a wheel sensor unit of a parking assist system according to the present invention.
FIG. 7 is a conceptual diagram illustrating an auto meter error value acquisition process using a sensor mounting distance and a wheel pulse value according to an embodiment of the present invention.
8 is a flowchart showing a parking assist steering method according to the present invention.
FIG. 9 is a flowchart showing each step performed in the case of parking failure in the parking assist steering method according to the present invention.
10 is a diagram showing an example of a maintenance mode screen in the parking assist steering method according to the present invention.

Hereinafter, preferred embodiments of a parking assist system and method according to the present invention will be described in detail with reference to the accompanying drawings. In the drawings, the same reference numerals are used to designate the same or similar components throughout the drawings. In the following description of the present invention, a detailed description of known functions and configurations incorporated herein will be omitted when it may make the subject matter of the present invention rather unclear.

1 is a conceptual diagram showing a conventional automatic parking assist system.

The SPAS system according to the prior art has x, y, and? Coordinate systems for locating the vehicle. 1, in order to automatically park the vehicle 10 in the parking space between the vehicle O2 located in front of the parking space and the vehicle O1 located behind the parking space, the vehicle 10 is located at the initial coordinate qs (xs, ys, The vehicle 10 must be moved to the final parking position coordinate qg (xg, yg, [theta] g).

(Steering angle),? (Heading angle, heading angle), b (steering angle), and the like, and the moving path of the vehicle 10 is composed of a set of target path coordinates qd (xd, yd, (Wheelbase), and calculates the moving parking trajectory.

FIGS. 2 and 3 are conceptual diagrams showing the moving distance of the vehicle according to the radius of the tires.

Referring to FIG. 2, the vehicle is moved by the rotation of the wheel according to the driving means, and the moving distance d of the vehicle is calculated as the distance along the rotation of the tire. Depending on various factors such as the tire width, the flatness ratio, the wheel diameter, the wear of the tire due to running, the user's preference,

Fig. 3 is a conceptual diagram showing an error of the odometer of the vehicle due to the change in the radius of the tires.

3 (a), when the automatic parking system tries to move the vehicle from the initial position 10 to the estimated position 10a past the parking space search completion reference line, the automatic parking system according to the radius of the reference tire The estimated position 10a is calculated.

Referring to FIG. 3B, when the accompanying radius of the tire is larger than the radius of the reference tire, the vehicle 10 moves farther than the estimated position 10a, thereby reaching the actual position 10b of the vehicle do.

3C, the vehicle 10 is moved less than the estimated position 10a when the accompanying radius of the tire is smaller than the radius of the reference tire 10, so that the vehicle 10 reaches the actual position 10c of the vehicle do.

That is, in order to automatically park the vehicle, the automatic parking trajectory is calculated, and the tire width, the flatness ratio, the wheel diameter, the wear of the tire due to the running, , The user's preference, and so on. In case of mounting different tires of the same size, the cumulative error of the mileage will occur, resulting in a path error, which should be corrected for the reduction of the path error.

 FIG. 4 is a configuration diagram of a parking steering assist system according to the present invention, and FIG. 5 is a conceptual diagram showing a vehicle equipped with a parking steering assist sensor unit and a wheel sensor unit of a parking steering assist system according to the present invention.

 4 and 5, a parking steering assist system according to the present invention includes a parking steering assist sensor unit 110, a wheel sensor unit 120, a calculating unit 130, a parking steering assist electronic controller 140, (170) and an inspection mode providing unit (180).

At this time, the parking-steer-auxiliary sensor unit 110 is disposed at a plurality of positions spaced apart from the side surface of the vehicle 100, and includes an ultrasonic sensor for sensing the surrounding objects of the vehicle 100. That is, the ultrasonic sensor senses an object in the vicinity of the parking space for the automatic parking of the vehicle 100, and acquires the surrounding environment information for calculating the automatic parking trajectory of the vehicle 100.

The wheel sensor unit 120 is disposed on a plurality of wheels of the vehicle 100 to obtain wheel pulse values. Referring to FIG. 6, the wheel pulse value is a value obtained by the wheel sensor unit 120 including a tone wheel using pulses for the tone wheel, and the wheel sensor unit 120 The minimum unit of the moving distance of the vehicle 100 which can be measured by using the tire is a value obtained by dividing the moving distance due to one rotation of the tire by the number of teeth of the tone wheel.

The arithmetic unit 130 receives the distance between the ultrasonic sensors disposed on one side of the vehicle 100 and the wheel pulse value acquired by the wheel sensor unit 120, and generates the same radius change signal of the wheel. Referring to FIG. 5, the distance between the front-side ultrasonic sensor 110a and the rear-side ultrasonic sensor 110b disposed on the side of the vehicle 100 is an installation distance between the ultrasonic sensors. Further, the wheel sensor unit 120 is disposed on each wheel of the vehicle 100.

The parking-steer-by-wire electronic control unit 140 receives the radius change signal obtained by the computing unit 130 and controls automatic parking of the vehicle 100. That is, in calculating the automatic parking locus of the vehicle 100, the parking-steer-assistance electronic control unit 140 may use the same radius change information of the wheel of the vehicle 100, thereby compensating for the error of the odometer, thereby preventing the collision between the vehicle and other objects caused by the odometer error in the parking path control.

The error storage unit 170 stores error information on the failure of the automatic parking of the vehicle 100. That is, if the automatic parking fails due to various causes, it is possible to store the errors and the various parameters and cause of error in a database.

When the error information satisfies the preset condition, the check mode providing unit 180 provides the driver with the vehicle check mode to receive the input value.

The preset condition is a condition that various conditions such as a case where the number of times of storing the error information is equal to or more than a reference number or a case where the number of consecutive times of generating the error information is equal to or more than a reference number is set in advance. A vehicle check mode can be provided. An example of the vehicle check mode will be described later.

Then, the check mode providing unit 180 transfers the input value to the error storage unit 170, and the error storage unit 170 may store the input value. This can be used later to provide the input value to the inspection company or to reinforce the error history.

Preferably, the parking assist system according to the present invention further includes a memory unit 150 for storing the radius change signal generated by the calculation unit 130. [ The memory unit 150 may store the same radius change information stored in the memory unit 150 without the need to reacquire the same radius change signal even in the case of a restart in which the vehicle 100 is turned on and then turned on again, Is input to the parking steering assist ECU 140. The parking steering assist ECU 140 receives the driving radius change signal and controls the automatic parking of the vehicle 100. [

Further, the parking assist system according to the present invention further includes an alarm unit 160 for informing the user of the change of the radius of the wheel through a display or an alarm sound generating operation by receiving the radius change signal generated by the operation unit 130 can do. That is, the alarm unit 160 informs the driver of the vehicle about the radius change information of the tire, so that the driver of the vehicle can recognize the radius of the changed tire and control the vehicle.

The calculation unit 130 of the parking steering aiding apparatus according to the present invention calculates the distance between the mounting distance between the ultrasonic sensors disposed on one side of the vehicle 100 and the mounting distance between the ultrasonic sensors disposed on one side of the vehicle And generates the radius change signal when the error value is equal to or larger than a predetermined value.

FIG. 7 is a conceptual diagram illustrating a process of acquiring an auto meter error value using a sensor mounting distance and a wheel pulse value according to an embodiment of the present invention. FIG. 7 (a) And detecting the object O1. The ultrasonic sensor disposed on one side of the vehicle 100 detects the position of the front end of the object O1 located behind the parking space in the front-side ultrasonic sensor 110a and the rear-side ultrasonic sensor 110b. The wheel sensor unit 120 senses the position of the front end of the object O1 located behind the front side of the parking space in the front side of the vehicle 100, The controller 110 obtains a wheel pulse difference value generated while the sensor 110a moves to a point where it senses the position of the front end of the object O1 located behind the parking space, And the mounting distance C between the ultrasonic sensors between the front side ultrasonic sensor 110a and the back side ultrasonic sensor 110b is calculated to calculate an error value.

7B is a conceptual view showing the step of sensing the object O2 located in front of the parking space of the vehicle 100. The ultrasonic sensor disposed on one side of the vehicle 100 is a front side The ultrasonic sensor 110a and the rear side ultrasonic sensor 110b sense the position of the rear end of the object O2 located in front of the parking space. The wheel sensor unit 120 senses the position of the rear end of the object O2 located in front of the parking space from the front side ultrasonic sensor 110a of the vehicle 100, The controller 130 obtains a wheel pulse difference value generated while the sensor 110a moves to a point where it senses the position of the rear end of the object O2 located in front of the parking space, An error value is calculated by comparing the mounting distance C between the ultrasonic sensors between the front-side ultrasonic sensors 110a and the rear-side ultrasonic sensors 110b disposed on one side of the vehicle.

If the error value is less than a predetermined value, the radius change signal is not generated in consideration of the measurement error, and if the error value is greater than a predetermined value, the operation radius change signal is generated, To the control unit 140.

At this time, the wheel pulse difference value is a value obtained by calculating an average value of wheel pulse difference values of the respective wheels mounted on the vehicle, and uses all the different tire radius information of each wheel mounted on the vehicle 100 And the parking steering assist ECU 140 reliably controls the moving distance of the vehicle compared with the moving distance of the recognized vehicle.

As shown in FIG. 8, the parking assist system according to the present invention includes a wheel pulse value obtaining step S10, a wheel pulse difference value calculating step S20, a sensor mounting distance and a wheel pulse difference value comparing step S30 A tire offset detection step S40, and a tire offset compensation or alarm transmission step S50.

In the wheel pulse value acquiring step (S10), the wheel sensor unit 120 is mounted on a plurality of wheels of the vehicle 100 to acquire a pulse value of the wheel.

In the wheel pulse difference value calculation step S20, the calculation unit 130 calculates a wheel pulse difference value generated while the vehicle moves by the mounting distance between the ultrasonic sensors disposed on one side of the vehicle. In addition, the calculating unit 130 compares the mounting distance between the ultrasonic sensors disposed at one side of the vehicle 100 and the wheel pulse difference value in the step of comparing the sensor mounting distance and the wheel pulse difference (S30) to calculate an error value do. Also, the calculating unit 130 detects a tire offset when the error value calculated in the step S30 of comparing the sensor mounting distance and the wheel pulse difference value is greater than a predetermined value in the tire offset detecting step S40. At this time, if the error value is less than the predetermined value, the process returns to the step of acquiring the wheel pulse value (S10) to obtain the wheel pulse value of the vehicle.

When the tire offset is detected in the tire offset detection step S40, the calculation unit 130 transmits the tire offset information to the parking assist ECU 140. In the tire offset compensation or alert transmission step S50, The parking assist ECU 140 compensates an odometer error due to the tire offset to correct the automatic parking trajectory of the vehicle 100 calculated by the parking assist ECU 140, Calculates the automatic parking trajectory taking the tire offset into consideration, and automatically parks the vehicle 100 in the parking space.

In the tire offset compensation or alarm transmission step S50, the alarm unit 160 informs the driver of the vehicle 100 of the tire offset detection alarm through the display or alarm sound generation operation, so that the driver of the vehicle 100 And recognizes the same radius of the changed tire so that the vehicle can be controlled.

The memory unit 150 stores the tire offset in the memory unit 150 when the tire offset is detected in the tire offset detection step S40 so that the tire offset can be detected even when the vehicle 100 is restarted. There is an effect that the automatic parking locus of the vehicle 100 is calculated by using the stored tire offset information without having to reacquire the offset.

The wheel pulse difference value calculated in the wheel pulse difference value calculation step S20 is a mean value of the obtained wheel pulse difference values for a plurality of wheels of the vehicle, It is possible to reliably control the moving distance of the actual vehicle with respect to the moving distance of the vehicle recognized by the parking assist ECU 140 during the automatic parking of the vehicle 100 by considering all the different tire radius information.

FIG. 9 is a flowchart showing each step performed in the case of parking failure in the parking assist steering method according to the present invention.

9, the parking assist steering assist method according to the present invention includes an error storing step S60, a checking step S70, an error transmitting step S80, and an input value storing step S90 .

In the error storage step S60, error information is stored in the error storage unit 170 when the vehicle 100 fails to be parked. In the checking step S70, if the error information satisfies the preset condition, The check mode providing unit 180 provides the driver with the vehicle check mode to receive the input value.

In the error transmission step S80, the check mode providing unit 180 transmits the input value to the error storage unit 170. In the input value storing step S90, the error storage unit 170 And storing the input values.

In this way, the error is stored when the automatic parking failure occurs through each of the steps described above, and a check mode is provided to store the result, and then the feed pack can be made available after storing the result.

10 is a diagram showing an example of a maintenance mode screen in the parking assist steering method according to the present invention.

As shown in FIG. 10, the checking mode providing unit 180 may provide a question about various errors such as whether or not to mount a different tire, display a warning lamp, adjust wheel alignment, and whether an accident has occurred, by a display or the like.

Then, the driver selects an answer, and the check mode providing unit 180 can again provide the answer, the solution, etc. to the driver. Also, the input result may be transmitted to and stored in the error storage unit 170, and then used for the feed pack.

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: vehicle 110: parking steering assist sensor part
120: Wheel sensor unit 130:
140: Parking steering assist electronic control unit 150: Memory part
160: alarm unit 170: error storage unit
180:

Claims (13)

A parking steering assist sensor unit 110 including a plurality of ultrasonic sensors arranged on a side surface of the vehicle and sensing an object around the vehicle;
A wheel sensor unit 120 disposed at each of the plurality of wheels of the vehicle to obtain a wheel pulse value;
An arithmetic unit 130 for receiving the distance between the ultrasonic sensor disposed on one side of the vehicle and the wheel pulse value acquired by the wheel sensor unit 120 to generate a wheel radius change signal;
A parking steering assist electronic controller 140 that receives the radius change signal obtained by the calculating unit 130 and controls automatic parking of the vehicle;
An error storage unit (170) for storing error information when the automatic parking failure of the vehicle occurs; And
An inspection mode providing unit (180) for providing a driver with a vehicle inspection mode and receiving an input value when the error information satisfies a predetermined condition;
And a steering angle of the steering wheel. The method according to claim 1,
The memory unit 150 may further include a memory unit 150 for storing the radius change signal generated by the operation unit 130. The memory unit 150 may be configured to store the radius change signal generated by the memory unit 150, And inputs a change signal to the parking steering-assist electronic control unit (140). The method according to claim 1,
Further comprising an alarm unit (160) for receiving the same radius change signal generated by the operation unit (130) and informing the user of the change of the radius of the wheel through a display or an alarm sound generating operation, . The method according to claim 2 or 3,
The calculation unit 130 compares the mounting distance between the ultrasonic sensors disposed on one side of the vehicle and the wheel pulse difference value generated while the vehicle is moved by the mounting distance between the ultrasonic sensors disposed on one side of the vehicle, And generates the same radius change signal when the error value is equal to or larger than a predetermined value. 5. The method of claim 4,
Wherein the wheel pulse difference value is an average value of the wheel pulse difference values obtained for the plurality of wheels of the vehicle in which the wheel sensor unit 120 is arranged. The method according to claim 1,
The check mode providing unit 180 transmits the input value to the error storage unit 170,
And the error storage unit (170) stores the input value. The method according to claim 1,
The above-
Wherein the number of times of storing the error information is equal to or more than a reference number or the number of consecutive times of generating the error information is equal to or more than a reference number. A wheel pulse value obtaining step (S10) of obtaining a pulse value of a plurality of wheels of the vehicle;
A wheel pulse difference value calculation step (S20) of calculating a wheel pulse difference value generated while the vehicle moves by a mounting distance between the ultrasonic sensors arranged on one side of the vehicle;
(S30) comparing a sensor mounting distance and a wheel pulse difference value for calculating an error value by comparing the mounting distance between the ultrasonic sensors disposed on one side of the vehicle and the wheel pulse difference value;
A tire offset detection step (S40) of detecting a tire offset when the error value calculated in the step S30 of comparing the sensor mounting distance and the wheel pulse difference value is equal to or greater than a preset value;
A tire offset compensation or alarm transmission step (S50) of compensating for a tire offset when a tire offset is detected in the tire offset detection step (S40) or informing a driver of the vehicle of a tire offset detection alarm;
An error storage step (S60) of storing the error information in the error storage unit (170) when the automatic parking failure of the vehicle fails; And
An inspecting step (S70) in which, when the error information satisfies the predetermined condition, the checking mode providing unit 180 provides the driver with a vehicle checking mode to receive an input value;
And a steering angle of the steering wheel. 9. The method of claim 8,
And storing the tire offset in the memory unit (150) when a tire offset is detected in the tire offset detection step (S40). 9. The method of claim 8,
Wherein the wheel pulse difference value calculated in the wheel pulse difference value calculation step (S20) is an average value of the obtained wheel pulse difference values for a plurality of wheels of the vehicle. 11. The method of claim 10,
The tire offset compensation or alert transmission step S50 may include controlling the automatic parking of the vehicle by transmitting the tire offset detected in the tire offset detection step S40 to the parking assistant electronic control unit 140, To the driver of the vehicle through a display or an alarm sound generating operation. 9. The method of claim 8,
After the checking step,
An error transmission step (S80) in which the check mode providing unit 180 transmits the input value to the error storage unit 170; And
An input value storing step (S90) in which the error storing unit (170) stores the input value;
Further comprising the steps of: 9. The method of claim 8,
In the checking step,
And when the number of times of storing the error information is equal to or more than a reference number or the number of consecutive times of generating the error information is equal to or greater than a reference number.

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