KR101911704B1 - Parking control apparatus for Vehicle and Vehicle - Google Patents

Abstract

The present invention relates to a parking control apparatus for a vehicle, comprising: a plurality of wheels provided on a vehicle body; And a processor for controlling the vehicle body to rotate about an axis formed in the vertical direction by individually braking, releasing or driving each of the plurality of wheels.

Description

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

The present invention relates to a parking control device and a vehicle provided in a vehicle.

A vehicle is a device that moves a user in a desired direction by a boarding user. Typically, automobiles are examples.

On the other hand, for the convenience of users who use the vehicle, various sensors and electronic devices are provided. Particularly, for the convenience of the user, research on the ADAS (Advanced Driver Assistance System) is being actively carried out. Furthermore, development of an autonomous vehicle is being actively carried out.

1 and 2 are views referred to explain a parking method of a vehicle according to the prior art.

As illustrated in Fig. 1, in order to perform right angle parking between a plurality of other vehicles 11, 12, the vehicle 10 has to repeat forward, backward and steering 20 several times.

As illustrated in Fig. 2, in order to perform parallel parking between a plurality of other vehicles 13,14, the vehicle 10 has to repeat forward, backward and steering 30 several times.

On the other hand, when parking is performed in manual parking as shown in FIG. 1 to FIG. 2, the driver is forced to feel the hassle. In addition, the novice driver can feel the difficulty of such a parking method, and even if it is an experienced driver, it takes time to move forward, backward, and steering wheel.

Therefore, it is necessary to develop a parking control apparatus for a vehicle that controls such an existing parking mode in a short time in an easy and simple manner.

In order to solve the above-described problems, an embodiment of the present invention is a vehicle control system for controlling a vehicle body to rotate by individually braking, releasing or driving each of a plurality of wheels provided on the vehicle, And to provide a parking control device for a vehicle.

It is also an object of the present invention to provide a vehicle including the parking control device.

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

According to an aspect of the present invention, there is provided a parking control apparatus for a vehicle, comprising: a plurality of wheels provided on a vehicle body; And a processor for controlling the vehicle body to rotate about an axis formed in the vertical direction by individually braking, releasing or driving each of the plurality of wheels.

The details of other embodiments are included in the detailed description and drawings.

According to an embodiment of the present invention, there is one or more of the following effects.

First, there is an effect that parking is performed quickly by individually controlling each of a plurality of wheels.

Second, it is possible to carry out parking easily by minimizing forward, backward, and steering operation.

Third, in the case of manual parking, even a novice driver can easily carry out parking.

Fourth, it is possible to park in a narrow space.

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

1 and 2 are views referred to explain a parking method according to the prior art.
3 is a diagram referred to explain the appearance of a vehicle according to an embodiment of the present invention.
4 is a block diagram for explaining a vehicle according to an embodiment of the present invention.
5A to 5C are block diagrams for explaining a parking control apparatus according to an embodiment of the present invention.
Figures 6-14 are diagrams that are referenced to illustrate the operation of individually controlling each of a plurality of wheels, in accordance with an embodiment of the present invention.
15 is a diagram referred to explain the operation of a parking control device according to the control of a plurality of in-wheel motors, according to an embodiment of the present invention.
16 is a flowchart referred to explain the operation of the parking control device in the autonomous parking situation, according to the embodiment of the present invention.
17 is a flowchart referred to explain the right angle parking operation according to the embodiment of the present invention.
18A to 18D are drawings referred to explain the right angle parking operation situation according to the embodiment of the present invention.
19 is a flowchart referred to explain a horizontal parking operation according to an embodiment of the present invention.
20A to 20F are views referred to explain a horizontal parking operation situation according to an embodiment of the present invention.
Figs. 21A to 21E are diagrams for explaining the operation of outputting the driving operation input guide according to the embodiment of the present invention. Fig.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings, wherein like reference numerals are used to designate identical or similar elements, and redundant description thereof will be omitted. The suffix "module" and " part "for the components used in the following description are given or mixed in consideration of ease of specification, and do not have their own meaning or role. In the following description of the embodiments of the present invention, a detailed description of related arts will be omitted when it is determined that the gist of the embodiments disclosed herein may be blurred. It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory and are intended to provide further explanation of the invention as claimed. , ≪ / RTI > equivalents, and alternatives.

Terms including ordinals, such as first, second, etc., may be used to describe various elements, but the elements are not limited to these terms. The terms are used only for the purpose of distinguishing one component from another.

It is to be understood that when an element is referred to as being "connected" or "connected" to another element, it may be directly connected or connected to the other element, . On the other hand, when an element is referred to as being "directly connected" or "directly connected" to another element, it should be understood that there are no other elements in between.

The singular expressions include plural expressions unless the context clearly dictates otherwise.

In the present application, the terms "comprises", "having", and the like are used to specify that a feature, a number, a step, an operation, an element, a component, But do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, or combinations thereof.

The vehicle described herein may be a concept including a car, a motorcycle. Hereinafter, the vehicle will be described mainly with respect to the vehicle.

The vehicle described in the present specification may be a concept including both an internal combustion engine vehicle having an engine as a power source, a hybrid vehicle having an engine and an electric motor as a power source, and an electric vehicle having an electric motor as a power source.

In the following description, the left side of the vehicle means the left side in the running direction of the vehicle, and the right side of the vehicle means the right side in the running direction of the vehicle.

3 is a view showing an appearance of a vehicle according to an embodiment of the present invention.

Referring to FIG. 3, the vehicle 100 may include a plurality of wheels 500 rotated by a power source, and a steering input device 121c for adjusting the traveling direction of the vehicle 100.

In the following description, the number of wheels 500 is exemplified by four, but according to an embodiment, the number of wheels 500 may be two, three, or four or more.

Each of the plurality of wheels 500 can be controlled individually. Specifically, each of the plurality of wheels 500 may be individually braked, released, or driven. Here, the release state of the wheel means a state in which the wheel is neither braked nor driven.

Each of the plurality of wheels 500 may individually vary the degree of braking or the degree of driving separately. According to the embodiment, the vehicle 100 can implement the ESC (Electronic Stability Control) function by varying the degree of braking of the plurality of wheels 500. Alternatively, the vehicle 100 may implement a TCS (Traction Control System) function by varying the degree of driving of the plurality of wheels 500.

According to the embodiment, the vehicle 100 may be an autonomous vehicle. In the case of an autonomous vehicle, it may be switched to an autonomous running mode or a manual mode according to user input. When the mode is switched to the manual mode, the autonomous vehicle 100 can receive the steering input via the steering input device.

The overall length means the length from the front portion to the rear portion of the vehicle 100 and the width is the width of the vehicle 100 and the height means the length from the bottom of the wheel to the roof. In the following description, it is assumed that the total length direction L is a direction in which the full length direction of the vehicle 100 is measured, the full width direction W is a reference for the full width measurement of the vehicle 100, Which is a reference for the measurement of the height of the object 100.

4 is a block diagram for explaining a vehicle according to an embodiment of the present invention.

4, the vehicle 100 includes a communication unit 110, an input unit 120, a sensing unit 125, a memory 130, an output unit 140, a vehicle driving unit 150, a control unit 170, An interface unit 180, a power supply unit 190, and a parking control unit 400 of the vehicle.

The communication unit 110 may include a local area communication module 113, a location information module 114, an optical communication module 115, and a V2X communication module 116.

The communication unit 110 may include one or more RF (Radio Frequency) circuits or devices for performing communication with other devices.

The short-range communication module 113 is for short-range communication and may be a Bluetooth ™, a Radio Frequency Identification (RFID), an Infrared Data Association (IrDA), a UWB (Ultra Wideband) It is possible to support near-field communication using at least one of Near Field Communication (NFC), Wireless-Fidelity (Wi-Fi), Wi-Fi Direct and Wireless USB (Universal Serial Bus)

The short-range communication module 113 may form short-range wireless communication networks to perform short-range communication between the vehicle 100 and at least one external device. For example, the short-range communication module 113 can exchange data with the mobile terminal wirelessly. The short-range communication module 113 may receive weather information and road traffic condition information (e.g., TPEG (Transport Protocol Expert Group)) from the mobile terminal. For example, when the user has boarded the vehicle 100, the user's mobile terminal and the vehicle 100 can perform pairing with each other automatically or by execution of the user's application.

The position information module 114 is a module for obtaining the position of the vehicle 100, and a representative example thereof is a Global Positioning System (GPS) module. For example, when the vehicle utilizes a GPS module, it can acquire the position of the vehicle using a signal sent from the GPS satellite.

Meanwhile, according to the embodiment, the location information module 114 may be a component included in the sensing unit 125, not the components included in the communication unit 110. [

The optical communication module 115 may include a light emitting portion and a light receiving portion.

The light receiving section can convert the light signal into an electric signal and receive the information. The light receiving unit may include a photodiode (PD) for receiving light. Photodiodes can convert light into electrical signals. For example, the light receiving section can receive information of the front vehicle through light emitted from the light source included in the front vehicle.

The light emitting unit may include at least one light emitting element for converting an electric signal into an optical signal. Here, the light emitting element is preferably an LED (Light Emitting Diode). The optical transmitter converts the electrical signal into an optical signal and transmits it to the outside. For example, the optical transmitter can emit the optical signal to the outside through the blinking of the light emitting element corresponding to the predetermined frequency. According to an embodiment, the light emitting portion may include a plurality of light emitting element arrays. According to the embodiment, the light emitting portion can be integrated with the lamp provided in the vehicle 100. [ For example, the light emitting portion may be at least one of a headlight, a tail light, a brake light, a turn signal lamp, and a car light. For example, the optical communication module 115 can exchange data with other vehicles through optical communication.

The V2X communication module 116 is a module for performing wireless communication with a server or other vehicle. V2X module 116 includes modules that can implement inter-vehicle communication (V2V) or vehicle-to-infrastructure communication (V2I) protocols. The vehicle 100 can perform wireless communication with an external server and other vehicles via the V2X communication module 116. [

The input unit 120 may include a driving operation device 121, a microphone 123, and a user input unit 124.

The driving operation device 121 receives a user input for driving the vehicle 100. The driving operation unit 121 may include a steering input device, a shift input device, an acceleration input device, and a brake input device.

The steering input device receives a forward direction input of the vehicle 100 from the user. It is preferable that the steering input device is formed in a wheel shape so that steering input is possible by rotation. According to an embodiment, the steering input device may be formed of a touch screen, a touch pad, or a button.

The shift input device receives parking (P), forward (D), neutral (N), and reverse (R) inputs of the vehicle 100 from the user. The shift input device is preferably formed in a lever shape. According to an embodiment, the shift input device may be formed of a touch screen, a touch pad or a button.

The acceleration input device receives an input for acceleration of the vehicle 100 from the user. The brake input device receives an input for deceleration of the vehicle 100 from the user. The acceleration input device and the brake input device are preferably formed in the form of a pedal. According to an embodiment, the acceleration input device or the brake input device may be formed of a touch screen, a touch pad, or a button.

The microphone 123 can process an external acoustic signal into electrical data. The processed data can be utilized variously according to functions performed in the vehicle 100. The microphone 123 can convert the voice command of the user into electrical data. The converted electrical data may be transmitted to the control unit 170.

According to the embodiment, the microphone 123 may be a component included in the sensing unit 125, not a component included in the input unit 120. [

The user input unit 124 is for receiving information from a user. When information is input through the user input unit 124, the controller 170 may control the operation of the vehicle 100 to correspond to the input information. The user input unit 124 may include a touch input means or a mechanical input means. According to an embodiment, the user input 124 may be located in one area of the steering wheel. In this case, the driver can operate the user input unit 124 with his / her finger while holding the steering wheel.

The sensing unit 125 senses various conditions of the vehicle 100 or external conditions of the vehicle. To this end, the sensing unit 125 may include a sensor, a wheel sensor, a velocity sensor, a tilt sensor, a weight sensor, a heading sensor, a yaw sensor, a gyro sensor, Position sensor, vehicle forward / reverse sensor, battery sensor, fuel sensor, tire sensor, steering sensor by steering wheel rotation, vehicle interior temperature sensor, vehicle interior humidity sensor, ultrasonic sensor, illuminance sensor, accelerator pedal position sensor , A brake pedal position sensor, and the like.

The sensing unit 125 is configured to generate the sensing information based on the vehicle collision information, the vehicle direction information, the vehicle position information (GPS information), the vehicle angle information, the vehicle speed information, the vehicle acceleration information, , The tire information, the vehicle lamp information, the vehicle interior temperature information, the vehicle interior humidity information, the steering wheel rotation angle, the vehicle exterior illumination, the pressure applied to the accelerator pedal, and the pressure applied to the brake pedal.

The sensing unit 125 may further include an accelerator pedal sensor, a pressure sensor, an engine speed sensor, an air flow sensor AFS, an intake air temperature sensor ATS, a water temperature sensor WTS, (TPS), a TDC sensor, a crank angle sensor (CAS), and the like.

Meanwhile, the position information module 114 may be classified as a sub component of the sensing unit 125.

The sensing unit 125 may include an object sensing unit capable of sensing an object around the vehicle. Here, the object sensing unit may include a camera module, a radar, a lidar, and an ultrasonic sensor. In this case, the sensing unit 125 may sense a front object located in front of the vehicle or a rear object located in the rear of the vehicle through a camera module, a radar, a lidar or an ultrasonic sensor.

On the other hand, according to the embodiment, the object sensing unit may be classified as a component of the parking control device 400. [

The memory 130 is electrically connected to the control unit 170. The memory 130 may store basic data for the unit, control data for controlling the operation of the unit, and input / output data. The memory 130 may be, in hardware, various storage devices such as ROM, RAM, EPROM, flash drive, hard drive, and the like. The memory 130 may store various data for operation of the vehicle 100, such as a program for processing or controlling the controller 170. [

The output unit 140 may include a display device 141, an acoustic output unit 142, and a haptic output unit 143 for outputting information processed by the control unit 170. [

The display device 141 may display various graphic objects. For example, the display device 141 can display the vehicle-related information. Here, the vehicle-related information may include vehicle control information for direct control of the vehicle, and vehicle driving assistance information for a driving guide to the vehicle driver. Further, the vehicle-related information may include vehicle state information indicating the current state of the vehicle or vehicle driving information related to the driving of the vehicle.

The display device 141 can display the parking control information or parking guide information of the vehicle.

The display device 141 may be a liquid crystal display (LCD), a thin film transistor-liquid crystal display (TFT LCD), an organic light-emitting diode (OLED), a flexible display display, a 3D display, and an e-ink display.

The display device 141 may include a touch screen having a mutual layer structure with the touch sensor or formed integrally with the touch sensor. This touch screen may function as a user input 724 that provides an input interface between the vehicle 100 and the user and may provide an output interface between the vehicle 100 and the user. In this case, the display device 141 may include a touch sensor for sensing a touch to the display device 141 so that a control command can be received by a touch method. When a touch is made to the display device 141, the touch sensor senses the touch, and the control unit 170 generates a control command corresponding to the touch based on the touch. The content input by the touch method may be a letter or a number, an instruction in various modes, a menu item which can be designated, and the like.

Meanwhile, the display device 141 may include a cluster so that the driver can check the vehicle state information or the vehicle driving information while driving. Clusters can be located on the dashboard. In this case, the driver can confirm the information displayed in the cluster while keeping the line of sight ahead of the vehicle.

Meanwhile, according to the embodiment, the display device 141 may be implemented as a Head Up Display (HUD). When the display device 141 is implemented as a HUD, information can be output through a transparent display provided on the front windshield 10. Alternatively, the display device 141 may include a projection module to output information through the image projected on the front windshield 10. [

On the other hand, according to the embodiment, the display device 141 may include a transparent display. In this case, the transparent display may be attached to the front windshield 10.

The transparent display can display a predetermined screen while having a predetermined transparency. Transparent displays can be made of transparent TFEL (Thin Film Elecroluminescent), transparent OLED (Organic Light-Emitting Diode), transparent LCD (Liquid Crystal Display), transmissive transparent display, transparent LED (Light Emitting Diode) Or the like. The transparency of the transparent display can be adjusted.

According to an embodiment, the display device 141 may function as a navigation device.

The sound output unit 142 converts an electric signal from the control unit 170 into an audio signal and outputs the audio signal. For this purpose, the sound output unit 142 may include a speaker or the like. It is also possible for the sound output section 142 to output a sound corresponding to the operation of the user input section 724. [

The haptic output unit 143 generates a tactile output. For example, the haptic output section 143 may operate to vibrate the steering wheel, the seat belt, and the seat so that the user can recognize the output.

The vehicle drive unit 150 can control the operation of various devices of the vehicle. The vehicle driving unit 150 includes a power source driving unit 151, a steering driving unit 152, a brake driving unit 153, a lamp driving unit 154, an air conditioning driving unit 155, a window driving unit 156, an airbag driving unit 157, A driving unit 158 and a suspension driving unit 159.

The power source drive unit 151 can perform electronic control of the power source in the vehicle 100. [

For example, when the fossil fuel-based engine (not shown) is a power source, the power source drive unit 151 can perform electronic control of the engine. Thus, the output torque of the engine and the like can be controlled. When the power source drive unit 151 is an engine, the speed of the vehicle can be limited by limiting the engine output torque under the control of the control unit 170. [

As another example, when the electric-based motor (not shown) is a power source, the power source drive unit 151 can perform control on the motor. Thus, the rotation speed, torque, etc. of the motor can be controlled.

The steering driver 152 may perform electronic control of the steering apparatus in the vehicle 100. [ Thus, the traveling direction of the vehicle can be changed.

The brake driver 153 can perform electronic control of a brake apparatus (not shown) in the vehicle 100. [ For example, it is possible to reduce the speed of the vehicle 100 by controlling the operation of the brakes disposed on the wheels. As another example, it is possible to adjust the traveling direction of the vehicle 100 to the left or right by differently operating the brakes respectively disposed on the left wheel and the right wheel.

The lamp driving unit 154 can control the turn-on / turn-off of the lamp disposed inside or outside the vehicle. Also, the intensity, direction, etc. of the light of the lamp can be controlled. For example, it is possible to perform control on a direction indicating lamp, a brake lamp, and the like.

The air conditioning driving unit 155 can perform electronic control on an air conditioner (not shown) in the vehicle 100. [ For example, when the temperature inside the vehicle is high, the air conditioner can be operated to control the cool air to be supplied to the inside of the vehicle.

The window driving unit 156 may perform electronic control of a window apparatus in the vehicle 100. [ For example, it is possible to control the opening or closing of the side of the vehicle with respect to the left and right windows.

The airbag drive unit 157 may perform electronic control of an airbag apparatus in the vehicle 100. [ For example, in case of danger, the airbag can be controlled to fire.

The sunroof driving unit 158 may perform electronic control of a sunroof apparatus (not shown) in the vehicle 100. [ For example, the opening or closing of the sunroof can be controlled.

The suspension driving unit 159 can perform electronic control on a suspension apparatus (not shown) in the vehicle 100. [ For example, when there is a curvature on the road surface, it is possible to control the suspension device so as to reduce the vibration of the vehicle 100. [

Meanwhile, according to the embodiment, the vehicle driving unit 150 may include a chassis driving unit. Here, the chassis driving unit may be a concept including the steering driving unit 152, the brake driving unit 153, and the suspension driving unit 159.

On the other hand, according to the embodiment, the vehicle drive section 150 may include a transmission drive section. The transmission drive may perform electronic control over the transmission. The transmission drive unit can control the state of the transmission (e.g., parking (P), reverse (R), neutral (N), forward (D)).

The control unit 170 can control the overall operation of each unit in the vehicle 100. [ The control unit 170 may be referred to as an ECU (Electronic Control Unit).

The controller 170 may be implemented in hardware as application specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs) processors, controllers, micro-controllers, microprocessors, and other electronic units for performing other functions.

The interface unit 180 may serve as a pathway to various kinds of external devices connected to the vehicle 100. For example, the interface unit 180 may include a port connectable to the mobile terminal, and may be connected to the mobile terminal through the port. In this case, the interface unit 180 can exchange data with the mobile terminal.

Meanwhile, the interface unit 180 may serve as a channel for supplying electrical energy to the connected mobile terminal. When the mobile terminal is electrically connected to the interface unit 180, the interface unit 180 may provide the mobile terminal with electric energy supplied from the power unit 190, under the control of the controller 170.

The power supply unit 190 can supply power necessary for the operation of each component under the control of the control unit 170. In particular, the power supply unit 170 can receive power from a battery (not shown) or the like inside the vehicle.

The parking control device 400 can control the parking of the vehicle 100. [ The parking control device 400 will be described in more detail with reference to FIG. 5 and the following figures.

5A to 5C are block diagrams for explaining a parking control apparatus according to an embodiment of the present invention.

5A, the parking control device 400 may include an interface unit 430, a memory 440, a processor 470, a plurality of wheels 500, and a power supply unit 490.

The interface unit 430 can receive various signals, information, or data. The interface unit 430 can transmit signals, information, or data processed or generated by the processor 470 to the outside.

To this end, the interface unit 430 performs data communication with the control unit 170, the vehicle display device 141, the sensing unit 125, the vehicle driving unit 150, and the like in the vehicle by a wire communication or a wireless communication method can do.

The interface unit 430 can receive the sensor information from the control unit 170 or the sensing unit 125. [

Here, the sensor information includes at least one of vehicle direction information, vehicle position information (GPS information), vehicle angle information, vehicle speed information, vehicle steering information, vehicle acceleration information, vehicle tilt information, vehicle forward / backward information, , Tire information, vehicle lamp information (e.g., turn signal information), vehicle internal temperature information, vehicle internal humidity information, and information on whether rain has occurred.

Such sensor information may include a heading sensor, a yaw sensor, a gyro sensor, a position module, a vehicle forward / backward sensor, a wheel sensor, a vehicle speed sensor, A steering angle sensor, a vehicle body inclination sensor, a battery sensor, a fuel sensor, a tire sensor, a steering sensor by steering wheel rotation, a vehicle internal temperature sensor, a vehicle internal humidity sensor, and a rain sensor. On the other hand, the position module may include a GPS module for receiving GPS information.

The interface unit 430 can receive the navigation information by data communication with the control unit 170, the vehicle display device 141, or a separate navigation device. Here, the navigation information may include set destination information, route information based on the destination setting, map information related to driving the vehicle, and current position information of the vehicle. On the other hand, the navigation information may include position information of the vehicle on the road.

The memory 440 can store various data for operation of the parking control device 400, such as a program for processing or controlling the processor 470. [

The memory 440 can be, in hardware, various storage devices such as ROM, RAM, EPROM, flash drive, hard drive, and the like. The memory 440 may be classified as a subcomponent of the processor 470, according to an embodiment.

The processor 470 may be electrically connected to each unit of the parking control device 400. [

The processor 470 can control the overall operation of each unit in the parking control device 400. [

The processor 470 can control each of the plurality of wheels 500 individually. Specifically, the processor 470 may brakes each of the plurality of wheels 500 individually. The processor 470 may release each of the plurality of wheels 500. The processor 470 may drive each of the plurality of wheels 500.

The processor 470 can brak, release or drive each of the plurality of wheels 500 individually to control the vehicle body to rotate about an axis formed in the vertical direction.

The operation in which the processor 470 individually controls each of the plurality of wheels 500 will be described in more detail with reference to Figs. 6 to 14. Fig.

The processor 470 may be any of a variety of devices including but not limited to application specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs) for example, at least one of controllers, micro-controllers, microprocessors, and other electronic units for performing other functions.

The plurality of wheels 500 may be provided on the vehicle body of the vehicle 100. The plurality of wheels 500 may be controlled according to an electrical signal provided by the processor 470. The plurality of wheels 500 may be connected to an axle shaft to support the vehicle body.

The plurality of wheels 500 may include front wheels 510 and 520 and rear wheels 530 and 540.

The front wheels 510 and 520 may be connected to a front axle shaft. The front axle may be a drive axle that transmits power or a flow axle that supports the weight of the vehicle. The front axle may be provided with a differential. The differential device provided on the front axle can control driving force transmitted to each of the front wheels 510 and 520 to be different from each other. Such a differential may be electrically coupled to the processor 470 and under the control of the processor 470.

The rear wheels 530 and 540 may be connected to a rear axle shaft. The rear axle may be a drive axle that transmits power or a flow axle that supports the weight of the vehicle. The rear axle may be equipped with a differential. The differential device provided on the rear axle can control the driving force transmitted to each of the rear wheels 530 and 540 to be different from each other. Such a differential may be electrically coupled to the processor 470 and under the control of the processor 470.

The power supply unit 490 can supply power necessary for the operation of each component under the control of the processor 470. [ The power supply unit 490 can receive power from a battery or the like inside the vehicle.

5B, the parking control apparatus of FIG. 5B further includes a parking control apparatus of FIG. 5A, a parking space search unit 410, an input unit 420, and an output unit 450. The parking control device 400 may include the parking space searching unit 410, the input unit 420, and the output unit 450 individually or in combination.

The parking control apparatus of Fig. 5B can be applied to the description of the parking control apparatus of Fig. 5A. Hereinafter, differences will be mainly described.

The parking space searching unit 410 may sense a space for parking the vehicle 100. [ The parking space searching unit 410 may include the camera module and the ultrasonic sensor individually or in combination.

The camera module can detect the parking space based on the acquired image. For example, the camera module can detect a parking space by detecting a parking space line in an image. For example, the camera module can detect a parking space by detecting an empty space between objects in an image.

The ultrasonic sensor can detect an empty space between the objects based on the reflected ultrasonic waves reflected from the object by the transmitted ultrasonic waves and detect the parking space.

The processor 470 can determine whether or not the parking space can be parked based on the information obtained through the parking space searching unit 410. [ The processor 470 can determine the parking mode based on the detected parking space information.

The input unit 420 may receive a user input. The input unit 420 may include a mechanical input device, a touch input device, a voice input device, or a wireless input device.

The mechanical input device may include a button, a lever, a jog wheel, a switch, and the like.

The touch-type input device may include at least one touch sensor. The touch input device may comprise a touch screen.

The voice input device may include a microphone for converting the voice of the user into an electrical signal.

The wireless input device can receive a user input in a wireless form input from outside the vehicle 100. [ Here, the user input may be received from the smart key or the mobile terminal carried by the user.

The processor 420 may individually control each of the plurality of wheels 500 according to a user input received through the input.

For example, the processor 420 may individually control each of the plurality of wheels 500 in accordance with a user input of a wireless type input from the outside of the vehicle 100.

On the other hand, the driving operation device 121 can be classified as a subordinate component of the parking control device 400. For example, a steering input device (e.g., a steering wheel), a shift input device (e.g., a shift lever), an acceleration input device May be classified as a subordinate component of the parking control device 400. [

The output unit 450 can output the processed data or information in the processor 470 under the control of the processor 470. [

The output unit 450 may include a display unit 451 and an acoustic output unit 452.

The display unit 451 can display information processed by the processor 470. [ The display unit 451 may display an image related to the operation of the parking control device 400. [ For this image display, the display unit 451 may include a cluster or an HUD (Head Up Display) on the inside of the vehicle interior. When the display unit 451 is the HUD, the front windshield 10 or the combiner of the vehicle 100 may include a projection module that projects an image.

The sound output unit 452 can output sound to the outside based on the audio signal processed by the processor 470. [ For this purpose, the sound output unit 452 may include at least one speaker.

The processor 470 can control, through the output unit 450, a point corresponding to at least one of the plurality of wheels so that the vehicle body is rotated.

For example, the processor 470 may control the output unit 450 to output information of the first point corresponding to the first rear wheel 540 among the plurality of wheels 500. [

For example, the display section 451 can display the first point information. For example, the display unit 451 may display the first point on the HUD as an AR.

For example, the sound output section 452 can output the first point information by voice. The sound output section 452 can acoustically output how far the first rear wheel 540 is from the first point. The sound output section 452 can acoustically output the state information at which the first rear wheel 540 is located at the first point.

Referring to FIG. 5C, the parking control apparatus of FIG. 5C differs from the parking control apparatus of FIG. 5A in controlling a plurality of suspensions 600. Alternatively, the parking control apparatus of FIG. 5C differs from the parking control apparatus of FIG. 5B in controlling a plurality of suspensions 600.

The description of the parking control device in Fig. 5C can be applied to the parking control device in Fig. 5C. Alternatively, the description of the parking control device in Fig. 5B can be applied to the parking control device in Fig. 5C. Hereinafter, differences will be mainly described.

The parking control device 600 may include a plurality of suspensions 600.

The plurality of suspensions 600 may be disposed corresponding to each of the plurality of wheels 500. The plurality of suspensions 600 can be disposed between the vehicle body and the front axle and between the vehicle body and the rear axle. Alternatively, the plurality of suspensions 600 may be disposed between the vehicle body and the plurality of wheels 500. [

Each of the plurality of suspensions 600 may be under the control of the processor 470.

The processor 470 can control the height of the plurality of suspensions 600. [ For example, when the vehicle body rotates about the first wheel of the plurality of wheels 500, the processor 470 can control the height of the first suspension corresponding to the first wheel to be lower than the height of the other suspensions. By controlling in this way, the turning radius of the vehicle body can be further reduced, the space required for parking can be reduced, and the resistance received by the vehicle when turning the vehicle body can be minimized.

Figures 6-14 are diagrams that are referenced to illustrate the operation of individually controlling each of a plurality of wheels, in accordance with an embodiment of the present invention.

The plurality of wheels 500 includes a first front wheel 510, a second front wheel 520, a first rear wheel 530 and a second rear wheel 540 . Meanwhile, the first front wheel 510 and the first rear wheel 530 may be classified as a right wheel. The second front wheel 520 and the second rear wheel 540 may be classified as a left wheel.

The vehicle 100 can be divided into a front wheel drive vehicle, a four wheel drive vehicle, or a rear wheel drive vehicle. The vehicle 100 according to the embodiment of the present invention may be any of a front-wheel-drive vehicle, a four-wheel drive vehicle, and a rear-wheel drive vehicle.

The processor 470 can be electrically connected to the driving operation device 121. [ Specifically, the processor 470 includes a steering input device (for example, a steering wheel 121a), a shift input device (e.g., a shift lever 121b), an acceleration input device 121c) or a brake input device (e.g., brake pedal 121d). For example, in the case of the manual parking mode, the processor 470 can perform parking in accordance with the driving operation input received through the driving operation device 121. [

The processor 470 can individually control each of the plurality of wheels 500 in accordance with a driving operation input inputted through the driving operation device 121. [ For example, when a driving operation input is received via the driving operation device 121 in the parking mode, the processor 470 can individually control each of the plurality of wheels 500 to perform parking.

The processor 470 may enter the parking mode when a user input for entering the parking mode is received through the input unit 420. [ Alternatively, the processor 470 may enter the parking mode if the parking status is detected through the sensing unit 125 and information is received through the interface unit 430 in the parking status. The parking situation can be detected by recognizing a parking sign, a parking line, a parked vehicle, etc. through the camera module.

Referring to FIG. 6, the processor 470 can individually control each of the plurality of wheels 510, 520, 530, 540.

The processor 470 may brakes each of the plurality of wheels 510, 520, 530, 540 individually. For example, the processor 470 may include a plurality of wheels 510, 520, 530, and 540, respectively, by providing electrical signals to the braking devices of each of the plurality of wheels 510, 520, 530, Can be braked individually. The operation in which each of the plurality of wheels 510, 520, 530, 540 is individually braked can be termed a braking force.

Processor 470 may release each of the plurality of wheels 510, 520, 530, 540 individually. The processor 470 can release each of the plurality of wheels 510, 520, 530, and 540 individually by not braking or driving at least one of the plurality of wheels 500.

The processor 470 can drive each of the plurality of wheels 510, 520, 530, 540 individually. For example, the processor 470 may drive each of the plurality of wheels 510, 520, 530, 540 individually by providing an electrical signal to a differential device on the front axle and / or the rear axle. For example, the processor 470 may individually drive each of the plurality of wheels 510, 520, 530, 540 by providing an electrical signal to a plurality of in-wheel motors arranged to correspond to the plurality of wheels 500, can do. The operation in which each of the plurality of wheels 510, 520, 530, 540 is individually driven can be termed a single drive.

The processor 470 can control each of the plurality of wheels individually so that the vehicle body is rotated about an axis formed in the vertical direction.

The shaft formed in the vertical direction may be a shaft formed in the vertical direction with respect to a point where one of the plurality of wheels 500 is located.

For example, the processor 470 may include a plurality of wheels 500 (for example, a first front wheel 510, a second front wheel 520, a first rear wheel 530 or a fourth rear wheel 540) ) Can be individually controlled to control the vehicle body to be rotated.

In the following description, the processor 470 describes the operation of rotating the vehicle body around the first rear wheel 530 as an example. The operation of rotating the vehicle body around the first front wheel 510, the second front wheel 520, and the second rear wheel 540 is obvious to a person skilled in the art.

The shaft formed in the vertical direction may be a shaft formed in the vertical direction with respect to a predetermined point outside the vehicle 100.

The processor 470 may control at least any one of the plurality of wheels 500 so that the vehicle body is rotated by driving at least one of the plurality of wheels 500 excluding the wheel to be braked.

On the other hand, the processor 470 can control the wheel connected to the steering input device 121a among the plurality of wheels 500 to be directed to the left or right of the vehicle 100 in the forward direction.

Here, the wheel connected to the steering input device 121a may be a first front wheel 510 and a second front wheel 520. In this case, the first front wheel 510 and the second front wheel 520 may be referred to as a steering front wheel.

For example, the processor 470 may select one of the plurality of wheels 500, which is connected to the steering input device 121a, so that the traveling direction of the vehicle 100 is switched to the left in the forward direction of the vehicle 100, It can be controlled so as to face the left side.

For example, the processor 470 controls the wheel connected to the steering input device 121a among the plurality of wheels 500 so that the traveling direction of the vehicle 100 is switched to the right in the forward direction of the vehicle 100, It can be controlled to be directed to the right side.

The processor 470 controls the wheel so that the wheel connected to the steering input device 121a is rotated in accordance with the individual control of the plurality of wheels 500 in a state in which the wheel is directed leftward or rightward in the advancing direction of the vehicle 100 can do. Thus, there is an effect that the vehicle body can be rotated even in a smaller space by performing the braking or the piece-wise driving together with the steering.

The processor 470 controls the wheels connected to the steering input device 121a to move leftward or rightward in the advancing direction of the vehicle 100 in the state in which the rotation of the vehicle body has started in accordance with the individual control of the plurality of wheels 500 .

The processor 470 can control so that the wheel connected to the steering input device 121a gradually moves toward the vehicle forward direction while individually braking, releasing or driving each of the plurality of wheels 500. [

For example, the processor 470 individually brakes, releases, or drives each of the plurality of wheels 500 so that the steering applied to the wheel connected to the steering input device 121a is released while the vehicle body is rotated Can be controlled. By controlling in this way, there is an effect that the rotation of the vehicle is not made suddenly and the riding comfort of the occupant is improved.

The processor 470 can drive at least one of the plurality of wheels 500 and control the wheel connected to the steering input device 121a to gradually move toward the vehicle forward direction.

For example, the processor 470 drives at least one of the plurality of wheels 500, so that the wheel connected to the steering input device 121a, while the vehicle 100 is being moved forward or backward, The wheel connected to the wheel 121a can be gradually controlled to be directed in the vehicle advance direction.

Hereinafter, the control of the processor 470 will be specifically described as a front wheel drive vehicle, a four-wheel drive vehicle, and a rear wheel drive vehicle.

7 to 8 are diagrams referred to explain the operation of the parking control device when the vehicle 100 is a front wheel drive vehicle according to the embodiment of the present invention.

7 to 8, the vehicle 100 may be a front wheel drive vehicle. When the vehicle 100 is a front wheel drive vehicle, the front axle may be a drive axle, and the rear axle may be a flow axle. A differential device may be provided on the front axle. The power provided by the power source may be provided only to the front wheels 510 and 520 through the front axle.

The processor 470 may drive the front wheels 510 and 520 together. Alternatively, the processor 470 may drive each of the front wheels 510 and 520 at different ratios.

The processor 470 can brakes the front wheels 510, 520 and the rear wheels 530, 540 together. Alternatively, the processor 470 may brakes the front wheels 510, 520 and the rear wheels 530, 540, respectively.

7, the processor 470 brakes and fixes the first rear wheel 530, releases the second rear wheel 540, rotates the first front wheel 510 and the second front wheel 540, It is possible to drive the vehicle body 520 and control the vehicle body to rotate (710).

The processor 470 can brak and fix the first rear wheel 530. For example, the processor 470 can completely brak the first rear wheel 530 and fix the first rear wheel 530 so as not to rotate in the forward direction or the backward direction.

The processor 470 may release the second rear wheel 540.

The processor 470 may drive the first front wheel 510 and the second front wheel 520. For example, the processor 470 may drive the first front wheel 510 and the second front wheel 520 such that the vehicle 100 moves in the backward direction.

When the first front wheel 510 and the second front wheel 520 are driven in the backward direction with the first rear wheel 530 fixed and the second rear wheel 540 released, And can be rotated about the first rear wheel 530.

By rotating the vehicle body in this manner, right angle parking or parallel parking in a narrow space can be performed easily and quickly.

8, the processor 470 brakes the first rear wheel 530 and the second rear wheel 540 at different ratios, and the first front wheel 510 and the second front wheel 540 520 so that the vehicle body can be rotated (810).

The processor 470 can brak the first rear wheel 530 and the second rear wheel 540 at different ratios. For example, the processor 470 can brak the first rear wheel 530 with a greater force than the second rear wheel 540.

For example, the processor 470 can control the first rear wheel 530 and the second rear wheel 540 to have different braking forces. The processor 470 can brak the first rear wheel 530 to a full braking force of A%. The processor 470 can brak the second rear wheel 540 to the full braking B%. At this time, A may be larger than B.

The processor 470 may drive the first front wheel 510 and the second front wheel 520. For example, the processor 470 may drive the first front wheel 510 and the second front wheel 520 such that the vehicle 100 moves in the backward direction.

When the first front wheel 510 and the second front wheel 520 are driven in the backward direction in a state where the first rear wheel 530 and the second rear wheel 540 are braked at different ratios, , And can rotate around an axis 820 formed outside the vehicle. Here, the distance from the first rear wheel 530 to the shaft 820 is shorter than the distance from the second rear wheel 540 to the shaft 820. The turning radius of the first rear wheel 530 is shorter than the turning radius of the second rear wheel 540.

The braking force applied to the first rear wheel 530 is larger than the braking force applied to the second rear wheel 540 so that the moving distance of the second rear wheel 540 is larger than the moving distance of the first rear wheel 530. The rotational displacement of the first rear wheel 530 about the axis 820 is shorter than the rotational displacement of the second rear wheel 540 so that the vehicle body can rotate about the axis 820. [

By rotating the vehicle body in this manner, right angle parking or parallel parking in a narrow space can be performed easily and quickly.

9 to 12 are diagrams referred to explain the operation of the parking control device when the vehicle 100 is a four-wheel drive vehicle according to the embodiment of the present invention.

9 to 12, the vehicle 100 may be a four wheel drive vehicle. When the vehicle 100 is a four-wheel drive vehicle, the front axle and the rear axle may be driven. Differential devices may be provided on the front axle and the rear axle, respectively. The power provided by the power source may be provided to the front wheels 510 and 520 through the front axle and may be provided to the rear wheels 530 and 540 through the rear axle.

The processor 470 can drive the front wheels 510 and 520 and the rear wheels 530 and 540 together. Alternatively, the processor 470 may drive the front wheels 510, 520 and the rear wheels 530, 540, respectively, at different ratios.

The processor 470 can brakes the front wheels 510, 520 and the rear wheels 530, 540 together. Alternatively, the processor 470 may brakes the front wheels 510, 520 and the rear wheels 530, 540, respectively.

9, the processor 470 brakes and fixes the first rear wheel 530 and rotates the first front wheel 510, the second front wheel 520 and the second rear wheel 540, So that the vehicle body can be controlled to rotate (910).

The processor 470 can brak and fix the first rear wheel 530. For example, the processor 470 can completely brak the first rear wheel 530 and fix the first rear wheel 530 so as not to rotate in the forward direction or the backward direction.

The processor 470 may drive the first front wheel 510, the second front wheel 520, and the second rear wheel 540. For example, the processor 470 may drive the first front wheel 510, the second front wheel 520, and the second rear wheel 540 so that the vehicle 100 moves in the reverse direction.

When the first front wheel 510, the second front wheel 520 and the second rear wheel 540 are driven in the backward direction in a state where the first rear wheel 530 is fixed, (Not shown).

By rotating the vehicle body in this manner, right angle parking or parallel parking in a narrow space can be performed easily and quickly.

10, the processor 470 brakes and fixes the first rear wheel 530, releases the second rear wheel 540, and rotates the first front wheel 510 and the second front wheel 540, It is possible to drive the vehicle body 520 and control the vehicle body to rotate (1010).

The processor 470 can brak and fix the first rear wheel 530. For example, the processor 470 can completely brak the first rear wheel 530 and fix the first rear wheel 530 so as not to rotate in the forward direction or the backward direction.

The processor 470 may release the second rear wheel 540.

The processor 470 may drive the first front wheel 510 and the second front wheel 520. For example, the processor 470 may drive the first front wheel 510 and the second front wheel 520 such that the vehicle 100 moves in the backward direction.

When the first front wheel 510 and the second front wheel 520 are driven in the backward direction with the first rear wheel 530 fixed and the second rear wheel 540 released, And can be rotated about the first rear wheel 530.

By rotating the vehicle body in this manner, right angle parking or parallel parking in a narrow space can be performed easily and quickly.

11, the processor 470 brakes the first rear wheel 530 and the second rear wheel 540 at different ratios, and the first front wheel 510 and the second front wheel 540, It is possible to drive the vehicle body 520 and control the vehicle body to rotate (1110).

The processor 470 can brak the first rear wheel 530 and the second rear wheel 540 at different ratios. Here, the processor 470 is capable of braking the first rear wheel 530 with greater force than the second rear wheel 540.

For example, the processor 470 can control the first rear wheel 530 and the second rear wheel 540 to have different braking forces. The processor 470 can brak the first rear wheel 530 to a full braking force of A%. The processor 470 can brak the second rear wheel 540 to the full braking B%. At this time, A may be larger than B.

The processor 470 may drive the first front wheel 510 and the second front wheel 520. For example, the processor 470 may drive the first front wheel 510 and the second front wheel 520 such that the vehicle 100 moves in the backward direction.

When the first front wheel 510 and the second front wheel 520 are driven in the backward direction in a state where the first rear wheel 530 and the second rear wheel 540 are braked at different ratios, , And can rotate about an axis 1120 formed outside the vehicle. Here, the distance from the first rear wheel 530 to the shaft 1120 is shorter than the distance from the second rear wheel 540 to the shaft 1120. The turning radius of the first rear wheel 530 is shorter than the turning radius of the second rear wheel 540.

The braking force applied to the first rear wheel 530 is larger than the braking force applied to the second rear wheel 540 so that the moving distance of the second rear wheel 540 is larger than the moving distance of the first rear wheel 530. The rotational displacement of the first rear wheel 530 about the axis 1120 is shorter than the rotational displacement of the second rear wheel 540 so that the vehicle body can rotate around the axis 1120. [

By rotating the vehicle body in this manner, right angle parking or parallel parking in a narrow space can be performed easily and quickly.

As illustrated in FIG. 12, the processor 470 may drive the first rear wheel 530 and the second rear wheel 540 at different ratios to control the vehicle body to rotate (1210).

The processor 470 can drive the first rear wheel 530 and the second rear wheel 540 at different ratios. For example, the processor 470 can drive the first rear wheel 530 with a smaller force than the second rear wheel 540. [

For example, the processor 470 may control the first rear wheel 530 and the second rear wheel 540 to have different driving forces. The processor 470 can drive the first rear wheel 530 at a% of full drive. The processor 470 can drive the second rear wheel 540 at b% when fully driven. Where a may be a number less than b.

The processor 470 can drive the first rear wheel 530 and the second rear wheel 540 so that the vehicle 100 moves in the backward direction.

The processor 470 may drive the first front wheel 510 and the second front wheel 520. For example, the processor 470 may drive the first front wheel 510 and the second front wheel 520 such that the vehicle 100 moves in the backward direction.

The processor 470 may release the first front wheel 510 and the second front wheel 520.

The processor 470 may release the first front wheel 510 and drive the second front wheel 520.

The processor 470 may drive the first front wheel 510 and the second front wheel 520 at different ratios. For example, the processor 470 may drive the first front wheel 510 with a smaller force than the second front wheel 520. [

When the first rear wheel 530 and the second rear wheel 540 are driven at different ratios, the vehicle body can rotate around a shaft 1220 formed outside the vehicle. Here, the distance from the first rear wheel 530 to the shaft 1220 is shorter than the distance from the second rear wheel 540 to the shaft 1220. The turning radius of the first rear wheel 530 is shorter than the turning radius of the second rear wheel 540.

The moving distance of the second rear wheel 540 is larger than the moving distance of the first rear wheel 530 because the driving force applied to the first rear wheel 530 is smaller than the driving force applied to the second rear wheel 540. [ The rotational displacement of the first rear wheel 530 about the axis 1220 is shorter than the rotational displacement of the second rear wheel 540 so that the vehicle body can rotate about the axis 1220. [

By rotating the vehicle body in this manner, right angle parking or parallel parking in a narrow space can be performed easily and quickly.

13 to 14 are drawings referred to explain the operation of the parking control device when the vehicle 100 is a rear wheel drive vehicle according to the embodiment of the present invention.

13 to 14, the vehicle 100 may be a rear wheel drive vehicle. When the vehicle 100 is a rear wheel drive vehicle, the front axle may be a flow axle, and the rear axle may be a drive axle. The rear axle may be equipped with a differential. The power provided by the power source can be provided only to the rear wheels 530 and 540 through the rear axle.

The processor 470 may drive the rear wheels 530 and 540 together. Alternatively, the processor 470 may drive each of the rear wheels 530 and 540 at different ratios.

The processor 470 can brakes the front wheels 510, 520 and the rear wheels 530, 540 together. Alternatively, the processor 470 may brakes the front wheels 510, 520 and the rear wheels 530, 540, respectively.

13, the processor 470 can control the first rear wheel 530 to be braked and fixed, and the second rear wheel 540 to drive the vehicle body to rotate (1310).

The processor 470 can brak and fix the first rear wheel 530. For example, the processor 470 can completely brak the first rear wheel 530 and fix the first rear wheel 530 so as not to rotate in the forward direction or the backward direction.

The processor 470 can drive the second rear wheel 540. [ For example, the processor 470 can drive the second rear wheel 540 so that the vehicle 100 moves in the backward direction.

The processor 470 may release the first front wheel 510 and the second front wheel 520.

The processor 470 may brak the first front wheel 510 and the second front wheel 520 at different ratios. For example, the processor 470 may brak the first front wheel 510 with a greater force than the second front wheel 520. [

When the second rear wheel 540 is driven in the reverse direction with the first rear wheel 530 fixed, the vehicle body can be rotated around the first rear wheel 530.

By rotating the vehicle body in this manner, right angle parking or parallel parking in a narrow space can be performed easily and quickly.

14, the processor 470 may drive the first rear wheel 530 and the second rear wheel 540 at different ratios to control the vehicle body to rotate (1410).

The processor 470 can drive the first rear wheel 530 and the second rear wheel 540 at different ratios. For example, the processor 470 can drive the first rear wheel 530 with a smaller force than the second rear wheel 540. [

For example, the processor 470 may control the first rear wheel 530 and the second rear wheel 540 to have different driving forces. The processor 470 can drive the first rear wheel 530 at a% of full drive. The processor 470 can drive the second rear wheel 540 at b% when fully driven. Where a may be a number less than b.

The processor 470 can drive the first rear wheel 530 and the second rear wheel 540 so that the vehicle 100 moves in the backward direction.

The processor 470 may release the first front wheel 510 and the second front wheel 520.

The processor 470 may brak the first front wheel 510 and the second front wheel 520 at different ratios. For example, the processor 470 may brak the first front wheel 510 with a greater force than the second front wheel 520. [

When the first rear wheel 530 and the second rear wheel 540 are driven at different ratios, the vehicle body can rotate around a shaft 1420 formed outside the vehicle. Here, the distance from the first rear wheel 530 to the shaft 1420 is shorter than the distance from the second rear wheel 540 to the shaft 1420. The turning radius of the first rear wheel 530 is shorter than the turning radius of the second rear wheel 540.

The moving distance of the second rear wheel 540 is larger than the moving distance of the first rear wheel 530 because the driving force applied to the first rear wheel 530 is smaller than the driving force applied to the second rear wheel 540. [ The rotational displacement of the first rear wheel 530 about the axis 1420 is shorter than the rotational displacement of the second rear wheel 540 so that the vehicle body can rotate around the axis 1420. [

By rotating the vehicle body in this manner, right angle parking or parallel parking in a narrow space can be performed easily and quickly.

15 is a diagram referred to explain the operation of a parking control device according to the control of a plurality of in-wheel motors, according to an embodiment of the present invention.

Referring to FIG. 15, the parking control device 400 may include a plurality of in-wheel motors. The plurality of in-wheel motors may be provided by the number of the plurality of wheels 500.

The in-wheel motor may include a first in-wheel motor 1510, a second in-wheel motor 1520, a third in-wheel motor 1530 and a fourth in-wheel motor 1540.

The first in-wheel motor 1510 may provide a driving force to the first front wheel 510. The second in-wheel motor 1520 may provide a driving force to the second front wheel 520. The third in-wheel motor 1530 can provide a driving force to the first rear wheel 530. The fourth in-wheel motor 1540 can provide a driving force to the second rear wheel 540.

Each of the plurality of in-wheel motors 1510, 1520, 1530, and 1540 may be under the control of the processor 470.

The processor 470 can separately control each of the plurality of in-wheel motors 1510, 1520, 1530 and 1540 to drive each of the plurality of wheels 510, 520, 530 and 540 individually.

The processor 470 can drive the plurality of wheels 510, 520, 530, and 540 at different ratios through the control of the plurality of in-wheel motors 1510, 1520, 1530, and 1540, respectively.

For example, the processor 470 may drive at least one of the light wheels 510, 530 with a smaller force than at least one of the left wheels 520, 540 to rotate the vehicle body.

For example, the processor 470 may drive at least one of the light wheels 510, 530 with greater force than at least one of the left wheels 520, 540 to rotate the vehicle body.

The processor 470 can drive the plurality of wheels 510, 520, 530, and 540 in different directions through the control of each of the plurality of in-wheel motors 1510, 1520, 1530,

For example, the processor 470 drives at least one of the light wheels 510 and 530 to rotate in a first direction, drives at least one of the left wheels 520 and 540, So that the vehicle body can be rotated.

For example, the processor 470 drives at least one of the light wheels 510 and 530 to rotate in the second direction, drives at least one of the left wheels 520 and 540, So that the vehicle body can be rotated.

Here, the first direction may be a direction for the vehicle 100 to advance, and the second direction may be a direction for the vehicle 100 to reverse.

By rotating the vehicle body in this manner, right angle parking or parallel parking in a narrow space can be performed easily and quickly.

16 is a flowchart referred to explain the operation of the parking control device in the autonomous parking situation, according to the embodiment of the present invention.

Referring to FIG. 16, the processor 470 can search for a parking space (S1610). The processor 470 can search the parking space through the parking space searching unit 410 to obtain information on the parking space.

The processor 470 can determine the parking mode (S1620). The processor 470 can select either vertical parking or parallel parking based on information on the parking space. Alternatively, the processor 470 can select either vertical parking or parallel parking based on the parking lot line information or the parking status information of the other vehicle.

If vertical parking is selected, the processor 470 may perform square parking (S1630). The right angle parking performing operation of the parking control apparatus 100 will be described in detail with reference to Figs. 17 to 18D.

When the flat parking is selected, the processor 470 can perform parallel parking (S1640). The parallel parking performing operations of the parking control apparatus 100 will be described in detail with reference to Figs. 19 to 20F.

17 is a flowchart referred to explain the right angle parking operation according to the embodiment of the present invention.

18A to 18D are drawings referred to explain the right angle parking operation situation according to the embodiment of the present invention.

Referring to the drawing, the processor 470 may calculate a first point (S1705).

The first point may be a point at which at least one of the plurality of wheels 500 should be located at the time of turning of the vehicle for performing the right angle parking.

18A, when the right parking of the vehicle 100 is completed in the searched parking space 1805, the processor 470 determines that the first rear wheel 530 of the plurality of wheels 500 is in the position The first predicted point 1811 to be predicted can be predicted. The processor 470 can predict the second predicted point 1812 where the first front wheel 510 of the plurality of wheels 500 will be positioned in the state where the right parking of the vehicle 100 is completed in the searched parking space have.

The first point 1820 may be located on an extension of the first predicted point 1811 and the second predicted point 1812.

When the other vehicles 1851 and 1852 are parked around the parking space 1805 in the width direction, the processor 470 calculates the distance between the vehicle 100 and the other vehicles 1851 and 1852 based on the distance between the vehicle 100 and the other vehicles 1851 and 1852 A point 1820 can be calculated. For example, the processor 470 may set the shortest distance between the vehicle 100 and the other vehicles 1851 and 1852 to be equal to or longer than the reference distance in a state where the first rear wheel 530 is located at the first point 1820. [ The first point 1820 can be calculated. Here, the reference distance may be 10% of the vehicle width of the vehicle 100. In this way, by making the predetermined distance from the other amounts 1851 and 1852, the collision with the other vehicles 1851 and 1852 can be prevented.

The processor 470 may control the output of the first point 1820 information through the output unit 450 (S1710).

The processor 470 can control the output of the acceleration input guide through the output unit 450 (S1715).

Thereafter, the processor 470 may drive at least one of the plurality of wheels 500 so that the vehicle 100 advances (S1720).

As illustrated in Figure 18B, the processor 470 is operable to cause at least one of the plurality of wheels 500 to be positioned at the first point 1820, such that the first rear wheel 530, Can be driven. In this case, the vehicle 100 can travel forward.

The processor 470 may drive at least one of the plurality of wheels 500 such that the first rear wheel 530 is located at the first point 1820. [ For example, when the vehicle 100 is a front wheel drive vehicle, the processor 470 may drive at least one of the first front wheel 510 and the second front wheel 520. [ For example, in the case of a vehicle 100 four-wheel drive vehicle, the processor 470 includes a first front wheel 510, a second front wheel 520, a first rear wheel 530, 540, and the like. For example, when the vehicle 100 is a rear wheel drive vehicle, the processor 470 can drive at least one of the first rear wheel 530 and the second rear wheel 540. [

The processor 470 drives at least one of the plurality of wheels 500 on the basis of a driving operation input received from the driving operation device 121 so that the first rear wheel 530 drives the first point 1820).

In the autonomous parking situation, the processor 470 can control the plurality of wheels 500 without receiving the driving operation input from the driving operation device 121. [ In the manual parking situation, the processor 470 can receive the driving operation input from the driving operation device 121 and control the plurality of wheels 500. [

On the other hand, there may be other vehicles 1851 and 1852 parked next to the parking space 1805. In this case, the processor 470 can control the plurality of wheels 500 so as to move forward in a state of being separated from the other vehicles 1851 and 1852 by more than the shortest distance. Here, the shortest distance may be 10% or more of the total width of the vehicle 100. In this way, by making the predetermined distance from the other amounts 1851 and 1852, collision with the other vehicles 1851 and 1852 can be prevented.

The processor 470 can control the output of the steering input guide through the output unit 450 (S1725).

The processor 470, through the output 450, may output the direction in which the steering wheel rotation should take place. The processor 470, through the output 450, can output the degree to which the steering wheel rotation must be made.

In the steered state, the processor 470 can control the plurality of wheels 500 so that the vehicle body is rotated (S1730).

As illustrated in Fig. 18B, the processor 470 can control the vehicle 100 to be steered. Specifically, the processor 470 can control the wheels 510 and 520 connected to the steering wheel 121a among the plurality of wheels 500 to face left or right. For example, the processor 470 can control so that the wheels 510 and 520 connected to the steering wheel 121a are directed to the left or right as far as possible.

The processor 470 fixes the first rear wheel 530 and individually brakes, releases or drives each wheel except for the first rear wheel 530 of the plurality of wheels 500, It is possible to control the vehicle body to rotate with the shaft 530 as an axis.

When the vehicle 100 is a front wheel drive vehicle, it can be controlled as described with reference to Figs. 7 to 8 to allow the vehicle body to rotate.

When the vehicle 100 is a four-wheel drive vehicle, the vehicle body can be rotated by controlling it as described with reference to Figs. 9 to 12. Fig.

When the vehicle 100 is a rear-wheel-drive vehicle, it can be controlled as described with reference to Figs. 13 to 14 so that the vehicle body can be rotated.

On the other hand, as illustrated in Fig. 18C, the processor 470 can control the vehicle body so that the vehicle body is rotated in correspondence with the direction of the parking space 1805. [

For example, the processor 470 can control the vehicle body such that the vehicle 100 can be parked in the parking space 1805 with no further steering, either forward or backward.

For example, the processor 470 can control the vehicle body to be rotated 90 degrees.

After rotation of the vehicle, the processor 470 can return the steering wheel to its original state. For example, the processor 470 can control the wheels 310, 320 coupled with the steering wheel to be directed forward.

The processor 470 can control the output of the shift lever backward (R) input guide through the output unit 450 (S1735).

The processor 470 can control the transmission (S1737). The processor 470 can control so that the shift position is in the reverse (R) state.

The processor 470 can control the transmission to be in the reverse state based on the operation input received from the driving operation device 121. [

In the autonomous parking situation, the processor 470 can control the transmission without receiving a driving operation input from the driving operation device 121. [ In the manual parking situation, the processor 470 can receive the driving operation input from the driving operation device 121 and control the transmission.

The processor 470 can control the output of the acceleration input guide through the output unit 450 (S1740).

The processor 470 can drive at least one of the plurality of wheels 500 so that the vehicle 100 runs backward (S1745).

The processor 470 can control to output the braking input guide through the output unit 450 (S1750).

The processor 470 can brak at least one of the plurality of wheels 500 (S1755).

18D, the processor 470 may drive at least one of the plurality of wheels 500 to brake after the first rear wheel 530 is positioned at the first predicted point 1811 . In this case, the vehicle 100 can be driven backward.

The processor 470 may drive at least one of the plurality of wheels 500 to brake after the first front wheel 510 is positioned at the second predicted point 1812. [

For example, when the vehicle 100 is a front wheel drive vehicle, the processor 470 may drive at least one of the first front wheel 510 and the second front wheel 520. [ Thereafter, the processor 470 may brak the plurality of wheels 500.

For example, in the case of a vehicle 100 four-wheel drive vehicle, the processor 470 includes a first front wheel 510, a second front wheel 520, a first rear wheel 530, 540, and the like. Thereafter, the processor 470 may brak the plurality of wheels 500.

For example, when the vehicle 100 is a rear wheel drive vehicle, the processor 470 can drive at least one of the first rear wheel 530 and the second rear wheel 540. [ Thereafter, the processor 470 may brak the plurality of wheels 500.

The processor 470 drives at least one of the plurality of wheels 500 based on the driving operation input received from the driving operation device 121 so that the first rear wheel 530 is positioned at the first predicted point .

In the autonomous parking situation, the processor 470 can control the plurality of wheels 500 without receiving the driving operation input from the driving operation device 121. [ In the manual parking situation, the processor 470 can receive the driving operation input from the driving operation device 121 and control the plurality of wheels 500. [

On the other hand, according to the embodiment, steps S1710, S1715, S1725, S1735, S1740, and S1750, which are the driving operation input guide output operations, can be omitted in the autonomous parking situation.

19 is a flowchart referred to explain a horizontal parking operation according to an embodiment of the present invention.

20A to 20F are views referred to explain a horizontal parking operation situation according to an embodiment of the present invention.

Referring to the drawing, the processor 470 may calculate a first point (S1905).

The first point may be the point at which at least one of the plurality of wheels 500 should be located when the vehicle is turning for parallel parking.

20A, when the parallel parking of the vehicle 100 is completed in the searched parking space 2005, the processor 470 determines whether or not the first predicted point 2011 (where the first rear wheel 530 is located) ) Can be predicted. The searched parking space 2005 may be a parallel parking space located between the first rider 2051 and the second rider 2052.

The first point 2020 can be determined based on the first predicted point 2011, the position of the first target 2051, and the full width direction distance between the first target 2051 and the vehicle 100.

When the other vehicles 2051 and 2052 are parked around the parking space 2005 in the longitudinal direction, the processor 470 calculates the first point 2020 based on the position of the first vehicle 2051 can do. For example, the processor 470 can calculate the first point 2020 on the extension line of the rear bumper of the first rider 2051 in the full width direction. In this manner, by calculating the first point 2020 in relation to the first vehicle 2051, collision with the other vehicles 2051 and 2052 can be prevented.

When the other vehicle is not parked in front of the vehicle 100 in the longitudinal direction of the parking space 200, the processor 470 can calculate the first point 2020 based on the parking lot line. For example, the processor 470 can calculate the first point 2020 on the extension line of the first parking space line 2061 in the width direction of the parking space 2005. [ As described above, in the relationship with the parking space, it is possible to park the parking space without departing from the parking space by calculating the first point 2020.

When the other vehicles 2051 and 2052 are parked in the vicinity of the parking space 2005 in the longitudinal direction, the processor 470 calculates, based on the full-width direction distance between the vehicle 100 and the other vehicles 2051 and 2052, The first point 2020 can be calculated. For example, when the first rear wheel 530 is positioned at the first point 2020, the processor 470 determines that the shortest distance between the vehicle 100 and the other vehicles 1851 and 1852 is equal to or greater than a reference distance The first point 2020 can be calculated. Here, the reference distance may be 10% of the vehicle width of the vehicle 100. As described above, by making the predetermined distance from the other vehicles 2051 and 2052 to be apart from each other, collision with the other vehicles 2051 and 2052 can be prevented.

The processor 470 can control to output the first point information through the output unit 450 (S1910).

The processor 470 can control the output of the acceleration input guide through the output unit 450 (S1915).

Thereafter, the processor 470 may drive at least one of the plurality of wheels 500 so that the vehicle 100 advances (S1920).

As illustrated in Figure 20B, the processor 470 is operable to cause at least one of the plurality of wheels 500 to be positioned at the first point 2020, such that the first rear wheel 530, Can be driven. In this case, the vehicle 100 can travel forward.

The processor 470 may drive at least one of the plurality of wheels 500 such that the first rear wheel 530 is positioned at the first point 2020. [ For example, when the vehicle 100 is a front wheel drive vehicle, the processor 470 may drive at least one of the first front wheel 510 and the second front wheel 520. [ For example, in the case of a vehicle 100 four-wheel drive vehicle, the processor 470 includes a first front wheel 510, a second front wheel 520, a first rear wheel 530, 540, and the like. For example, when the vehicle 100 is a rear wheel drive vehicle, the processor 470 can drive at least one of the first rear wheel 530 and the second rear wheel 540. [

The processor 470 drives at least one of the plurality of wheels 500 on the basis of a driving operation input received from the driving operation device 121 so that the first rear wheel 530 drives the first point 1820).

In the autonomous parking situation, the processor 470 can control the plurality of wheels 500 without receiving the driving operation input from the driving operation device 121. [ In the manual parking situation, the processor 470 can receive the driving operation input from the driving operation device 121 and control the plurality of wheels 500. [

On the other hand, there may be other vehicles 2051 and 2052 parked next to the parking space 2005. [ In this case, the processor 470 can control the plurality of wheels 500 so as to move forward in a state of being separated from the other vehicles 1851 and 1852 by more than the shortest distance. Here, the shortest distance may be 10% or more of the total width of the vehicle 100. In this manner, by making the predetermined distance from the other amounts 2051 and 2052, collision with the other vehicles 1851 and 1852 can be prevented.

The processor 470 can control the output of the steering input guide through the output unit 450 (S1925).

The processor 470, through the output 450, may output the direction in which the steering wheel rotation should take place. The processor 470, through the output 450, can output the degree to which the steering wheel rotation must be made.

In the steered state, the processor 470 can control the plurality of wheels 500 so that the vehicle body is rotated (S1930).

As illustrated in Figure 20C, the processor 470 may control the vehicle 100 to be steered. Specifically, the processor 470 can control the wheels 510 and 520 connected to the steering wheel 121a among the plurality of wheels 500 to face left or right.

For example, the processor 470 can control to steer in the direction in which the other vehicle 2051 is located.

For example, the processor 470 can determine the degree of steering in proportion to the distance 2070 in the full-width direction with the other vehicle 2051. [

For example, when the distance 2070 between the vehicle 100 and the other vehicle 2051 is 30% of the full width of the vehicle 100, the processor 470 can determine the degree of steering as 30% of the maximum steering .

For example, if the distance 2070 between the vehicle 100 and the other vehicle 2051 is 60% of the full width of the vehicle 100, the processor 470 can determine the degree of steering to be 60% of the maximum steering .

For example, when the distance 2070 between the vehicle 100 and the other vehicle 2051 is 100% of the full width of the vehicle 100, the processor 470 can determine the degree of steering as 100% of the maximum steering .

20C, the processor 470 fixes the first rear wheel 530 and rotates the wheels 510, 520, 540 of the plurality of wheels 500 except for the first rear wheel 530, The first rear wheel 530 can be controlled to be rotated about the axis of the vehicle body by braking, releasing or driving the first rear wheel 530 individually.

When the vehicle 100 is a front wheel drive vehicle, it can be controlled as described with reference to Figs. 7 to 8 to allow the vehicle body to rotate.

When the vehicle 100 is a four-wheel drive vehicle, the vehicle body can be rotated by controlling it as described with reference to Figs. 9 to 12. Fig.

When the vehicle 100 is a rear-wheel-drive vehicle, it can be controlled as described with reference to Figs. 13 to 14 so that the vehicle body can be rotated.

After rotation of the vehicle, the processor 470 can return the steering wheel to its original state. For example, the processor 470 can control the wheels 310, 320 coupled with the steering wheel to be directed forward.

The processor 470 can control the output of the speed change input guide through the output unit 450 (S1935).

The processor 470 can control the transmission (S1937). The processor 470 can control the transmission to be in the reverse (R) state.

The processor 470 can control the transmission to be in the reverse state based on the operation input received from the driving operation device 121. [

In the autonomous parking situation, the processor 470 can control the transmission without receiving a driving operation input from the driving operation device 121. [ In the manual parking situation, the processor 470 can receive the driving operation input from the driving operation device 121 and control the transmission.

The processor 470 can control the output of the acceleration input guide through the output unit 450 (S1940).

The processor 470 can drive at least one of the plurality of wheels 500 so that the vehicle 100 runs backward (S1945).

The processor 470 can control to output the braking input guide through the output unit 450 (S1950).

The processor 470 can brak at least one of the plurality of wheels 500 (S1955).

As illustrated in FIG. 20D, the processor 470 may drive at least one of the plurality of wheels 500 to brake after the first rear wheel 530 is positioned at the first prediction point 2011 . In this case, the vehicle 100 can be driven backward.

For example, when the vehicle 100 is a front wheel drive vehicle, the processor 470 may drive at least one of the first front wheel 510 and the second front wheel 520. [ Thereafter, the processor 470 may brak the plurality of wheels 500.

For example, in the case of a vehicle 100 four-wheel drive vehicle, the processor 470 includes a first front wheel 510, a second front wheel 520, a first rear wheel 530, 540, and the like. Thereafter, the processor 470 may brak the plurality of wheels 500.

For example, when the vehicle 100 is a rear wheel drive vehicle, the processor 470 can drive at least one of the first rear wheel 530 and the second rear wheel 540. [ Thereafter, the processor 470 may brak the plurality of wheels 500.

The processor 470 drives at least one of the plurality of wheels 500 based on the driving operation input received from the driving operation device 121 so that the first rear wheel 530 is positioned at the first predicted point .

In the autonomous parking situation, the processor 470 can control the plurality of wheels 500 without receiving the driving operation input from the driving operation device 121. [ In the manual parking situation, the processor 470 can receive the driving operation input from the driving operation device 121 and control the plurality of wheels 500. [

The processor 470 can control the output of the steering input guide through the output unit 450 (S1960).

The processor 470, through the output 450, may output the direction in which the steering wheel rotation should take place. The processor 470, through the output 450, can output the degree to which the steering wheel rotation must be made.

In the steered state, the processor 470 can control the plurality of wheels 500 so that the vehicle body is rotated (S1965).

As illustrated in Figs. 20E to 20F, the processor 470 can control the vehicle 100 to be steered. Specifically, the processor 470 can control the wheels 510 and 520 connected to the steering wheel 121a among the plurality of wheels 500 to face left or right.

For example, the processor 470 can control the steering to be performed in the direction opposite to the steering direction in step S1930.

For example, the processor 470 can control to steer to the degree of steering in step S1930.

The processor 470 is configured to fix the first rear wheel 530 and to individually brak, release, or release the wheels 510, 520, 540 of the plurality of wheels 500 except for the first rear wheel 530 The vehicle body can be controlled to rotate with the first rear wheel 530 as an axis so that the vehicle body corresponds to the parallel parking space 2005. [

When the vehicle 100 is a front wheel drive vehicle, it can be controlled as described with reference to Figs. 7 to 8 to allow the vehicle body to rotate.

When the vehicle 100 is a four-wheel drive vehicle, the vehicle body can be rotated by controlling it as described with reference to Figs. 9 to 12. Fig.

When the vehicle 100 is a rear-wheel-drive vehicle, it can be controlled as described with reference to Figs. 13 to 14 so that the vehicle body can be rotated.

After rotation of the vehicle, the processor 470 can return the steering wheel to its original state. For example, the processor 470 can control the wheels 310, 320 coupled with the steering wheel to be directed forward.

On the other hand, according to the embodiment, steps S1910, S1915, S1925, S1935, S1940, S1950, and S1950 may be omitted in the autonomic parking situation.

Figs. 21A to 21E are diagrams for explaining the operation of outputting the driving operation input guide according to the embodiment of the present invention. Fig.

Referring to FIG. 21A, the processor 470 can control the first point 2120 information to be output through the output unit 450. FIG.

Here, the first point 2120 may be information on a point at which at least one of the plurality of wheels 500 should be positioned when the vehicle is rotated through the control of the plurality of wheels 500.

The first point 2120 can be calculated differently depending on whether the parking mode to be performed is a right angle parking or a parallel parking.

In the case of the right angle parking mode, the processor 470 determines whether or not the first predicted point at which the first rear wheel 530 of the plurality of wheels 500 is to be positioned Can be predicted. The processor 470 can predict the second predicted point at which the first front wheel 510 of the plurality of wheels 500 will be positioned in a state where the parking of the vehicle 100 is completed in the searched parking space. Here, the first point 2120 may be located on an extension line between the first prediction point and the second prediction point.

The processor 470 can calculate the first point 2120 based on the distance between the vehicle 100 and the other vehicle when the other vehicle is parked around the parking space 1805 in the width direction. For example, when the first rear wheel 530 is positioned at the first point 2120, the processor 470 controls the first point 2120 so that the shortest distance between the vehicle 100 and the other vehicle is equal to or longer than the reference distance ) Can be calculated.

In the case of the parallel parking mode, the processor 470 can predict the first predicted point at which the first rear wheel 530 is located, in a state where the parallel parking of the vehicle 100 is completed in the searched parking space. The searched parking space may be a parallel parking space located between the first and second vehicles.

The first point 2120 can be determined based on the first predicted point, the position of the first target, and the full-width direction distance between the first target and the vehicle 100. [

When another vehicle is parked around in the parking space length direction, the processor 470 can calculate the first point 2120 based on the position of the first rider. For example, the processor 470 may calculate the first point 2120 on the extension line of the rear bumper of the first rider in the full width direction.

When the other vehicle is not parked in front of the vehicle 100 in the longitudinal direction of the parking space 200, the processor 470 can calculate the first point 2120 based on the parking lot line. For example, the processor 470 can calculate the first point 2120 on the extension line of the first parking space line in the width direction of the parking space.

The processor 470 can calculate the first point 2120 based on the full-width direction distance between the vehicle 100 and the other vehicle when the other vehicle is parked around in the parking space length direction. For example, when the first rear wheel 530 is positioned at the first point 2120, the processor 470 controls the first point 2120 so that the shortest distance between the vehicle 100 and the other vehicle is equal to or longer than the reference distance ) Can be calculated. Here, the reference distance may be 10% of the vehicle width of the vehicle 100.

The first point 2120 can be represented as augmented reality. For example, the display unit 451 may be implemented as an HUD. The processor 470 may display the first point 2120 as an augmented reality on the HUD so that the first point 2120 and the actual road surface are superimposed.

Referring to Figs. 21B to 21E, the processor 470 can output the driving operation input guide through the output unit 450. Fig. The processor 470 can display an operation input guide by displaying a predetermined graphic object on the display unit 451. [ For example, the processor 470 may display text or images.

The processor 470 outputs at least one of the braking input guide, the steering input guide, and the speed change input guide through the output unit 450 when the first rear wheel 530 is located at the first point 2120 .

The processor 470 can control to output at least one of the braking input guide, the steering input guide, the shift input guide, and the acceleration input guide through the output unit 450 after the rotation of the vehicle body is completed.

As illustrated in FIG. 21B, the processor 470 may output a steering input guide to perform the operation required for parking. The processor 470 can output the direction in which the steering should be made and the degree to which the steering should be made in order to perform the required operation.

For example, the processor 470 may display the image 2130 corresponding to the steering wheel, and may display the arrow 2132. [ At this time, the direction of the arrow indicates the direction in which steering should be performed, and the length of the arrow indicates the degree of steering.

Meanwhile, the output unit 450 may include a light emitting element provided on the steering wheel. The processor 470 may drive the light emitting element provided on the steering wheel to output the steering input guide.

As illustrated in Figure 21C, the processor 470 may output an acceleration input guide to perform the operation required for parking.

For example, processor 470 may display an image 2140 corresponding to an accelerator pedal. The processor 470 can control the shape, shape or color of the image 2140 corresponding to the accelerator pedal to change when an acceleration input is required.

As illustrated in Figure 21D, the processor 470 may output a braking input guide to perform the operation required for parking.

For example, processor 470 may display an image 2150 corresponding to a braking pedal. The processor 470 can control the shape, shape or color of the image 2150 corresponding to the braking pedal to change when a braking input is required.

As illustrated in Figure 21E, the processor 470 may output a shift input guide to perform the operation required for parking.

For example, the processor 470 may display the image 2160 corresponding to the shift lever. The processor 470 may display an image corresponding to the state of the transmission required for forward travel or an image corresponding to the state of the transmission required for backward travel.

The present invention described above can be embodied as computer-readable codes on a medium on which a program is recorded. The computer readable medium includes all kinds of recording devices in which data that can be read by a computer system is stored. Examples of the computer readable medium include a hard disk drive (HDD), a solid state disk (SSD), a silicon disk drive (SDD), a ROM, a RAM, a CD-ROM, a magnetic tape, a floppy disk, , And may also be implemented in the form of a carrier wave (e.g., transmission over the Internet). In addition, the computer may include a processor or a control unit. Accordingly, the above description should not be construed in a limiting sense in all respects and should be considered illustrative. The scope of the present invention should be determined by rational interpretation of the appended claims, and all changes within the scope of equivalents of the present invention are included in the scope of the present invention.

100: vehicle
400: parking control device of the vehicle

Claims (22)

A parking control apparatus for a vehicle,
A plurality of wheels provided on the vehicle body;
A plurality of suspensions disposed corresponding to each of the plurality of wheels; And
Releasing or driving each of the plurality of wheels individually so that the vehicle body is rotated about an axis formed in the vertical direction,
The processor comprising:
And controls the height of the first suspension corresponding to the first wheel to be lower than the height of the other suspensions when the vehicle body rotates about the first wheel among the plurality of wheels. The method according to claim 1,
The processor comprising:
Wherein at least one of the plurality of wheels is braked to drive at least one of the plurality of wheels except the wheel to be braked to control the vehicle body to rotate. 3. The method of claim 2,
The vehicle is a front wheel drive vehicle,
Wherein the plurality of wheels comprise:
A vehicle comprising: a first front wheel, a second front wheel, a first rear wheel and a second rear wheel,
The processor comprising:
The first rear wheel is braked and fixed, the second rear wheel is released, and the first front wheel and the second front wheel are driven to control the vehicle body to be rotated. 3. The method of claim 2,
The vehicle is a front wheel drive vehicle,
Wherein the plurality of wheels comprise:
A first front wheel, a second front wheel, a first rear wheel, and a second rear wheel,
The processor comprising:
And braking the first rear wheel and the second rear wheel at different ratios to drive the first front wheel and the second front wheel so as to rotate the vehicle body. 3. The method of claim 2,
The vehicle is a four wheel drive vehicle,
Wherein the plurality of wheels comprise:
A first front wheel, a second front wheel, a first rear wheel, and a second rear wheel,
The processor comprising:
The first rear wheel is braked and fixed, and the first front wheel, the second front wheel, and the second rear wheel are driven to control the vehicle body to be rotated. 3. The method of claim 2,
The vehicle is a four-wheel drive vehicle,
Wherein the plurality of wheels comprise:
A first front wheel, a second front wheel, a first rear wheel, and a second rear wheel,
The processor comprising:
The first rear wheel is braked and fixed, the second rear wheel is released, and the first front wheel and the second front wheel are driven to control the vehicle body to be rotated. 3. The method of claim 2,
The vehicle is a four-wheel drive vehicle,
Wherein the plurality of wheels comprise:
A first front wheel, a second front wheel, a first rear wheel, and a second rear wheel,
The processor comprising:
And braking the first rear wheel and the second rear wheel at different ratios to drive the first front wheel and the second front wheel so as to rotate the vehicle body. 3. The method of claim 2,
The vehicle is a four-wheel drive vehicle,
Wherein the plurality of wheels comprise:
A first front wheel, a second front wheel, a first rear wheel, and a second rear wheel,
The processor comprising:
Wherein the first rear wheel and the second rear wheel are driven at different ratios to control the vehicle body to rotate. 3. The method of claim 2,
The vehicle is a rear wheel drive vehicle,
Wherein the plurality of wheels comprise:
A first front wheel, a second front wheel, a first rear wheel, and a second rear wheel,
The processor comprising:
The first rear wheel is braked and fixed, and the second rear wheel is driven to control the vehicle body to be rotated. 3. The method of claim 2,
The vehicle is a rear-wheel-drive vehicle,
Wherein the plurality of wheels comprise:
A first front wheel, a second front wheel, a first rear wheel, and a second rear wheel,
The processor comprising:
Wherein the first rear wheel and the second rear wheel are driven at different ratios to control the vehicle body to rotate. The method according to claim 1,
And a plurality of in-wheel motors respectively corresponding to the plurality of wheels,
The processor comprising:
Wherein each of the plurality of in-wheel motors is individually controlled to individually drive each of the plurality of wheels. The method according to claim 1,
The processor comprising:
When right-angle parking is performed on the searched parking space,
Wherein the first rear wheel of the plurality of wheels drives at least one of the plurality of wheels so as to be located at a first point. 13. The method of claim 12,
The processor comprising:
Predicts a first predicted point at which the first rear wheel will be located and a second predicted point at which the first one of the plurality of wheels will be located,
Wherein the first point
And a second prediction unit located on an extension line of the first prediction point and the second prediction point,
Wherein the first rear wheel and the first front wheel are a left wheel or a right wheel. 14. The method of claim 13,
The processor comprising:
The first rear wheel is fixed and each of the plurality of wheels except the first rear wheel is individually braked, released or driven to control the first rear wheel to rotate the vehicle body around the axis A parking control device for a vehicle. 15. The method of claim 14,
The processor comprising:
And controls the vehicle body so that the vehicle body is rotated so that the vehicle body corresponds to the direction of the parking space. 16. The method of claim 15,
The processor comprising:
And drives at least one of the plurality of wheels such that the first rear wheel is positioned at the first prediction point. The method according to claim 1,
The processor comprising:
When parallel parking is performed on the searched parking space,
Wherein the first rear wheel of the plurality of wheels drives at least one of the plurality of wheels so as to be located at a first point. 18. The method of claim 17,
The parking space is a parallel parking space located between the first riding vehicle and the second riding vehicle,
The processor comprising:
Estimating a first predicted point at which the first rear wheel is located in a state in which parking is performed parallel to the parallel parking space,
Wherein the first point
The first predicted point, the position of the first target, and the full-width direction distance from the first target. 19. The method of claim 18,
The processor comprising:
A wheel connected to the steering wheel among the plurality of wheels is directed to the left or right,
Wherein the first rear wheel is fixed and each of the wheels except for the first rear wheel is individually braked, released or driven to control the first rear wheel to rotate the vehicle body Of the parking control device. 20. The method of claim 19,
The processor comprising:
And controlling the wheel connected to the steering wheel among the plurality of wheels so as to face left or right in a state where the first rear wheel is positioned at the first predicted point,
The first rear wheel is fixed, and each of the plurality of wheels except the first rear wheel is individually braked, released, or driven to rotate the first rear wheel about the axis, So that the vehicle body is rotated. The method according to claim 1,
The processor comprising:
A wheel connected to the steering input device among the plurality of wheels is controlled so as to be directed to the left or right side in the vehicle advance direction,
And controls the vehicle body to be rotated in a state in which the wheel connected to the steering input device faces the left or right side in the vehicle forward direction. 22. The method of claim 21,
The processor comprising:
Releasing or driving each of the plurality of wheels individually and controlling the wheel connected to the steering input device to gradually move toward the vehicle forward direction.

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