KR101929294B1 - Parking Assistance Apparatus and Vehicle Having The Same - Google Patents

Parking Assistance Apparatus and Vehicle Having The Same Download PDF

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Publication number
KR101929294B1
KR101929294B1 KR1020160149070A KR20160149070A KR101929294B1 KR 101929294 B1 KR101929294 B1 KR 101929294B1 KR 1020160149070 A KR1020160149070 A KR 1020160149070A KR 20160149070 A KR20160149070 A KR 20160149070A KR 101929294 B1 KR101929294 B1 KR 101929294B1
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KR
South Korea
Prior art keywords
parking
vehicle
information
display
unit
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KR1020160149070A
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Korean (ko)
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KR20180052028A (en
Inventor
배현주
이상혁
윤종화
Original Assignee
엘지전자 주식회사
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Priority to KR1020160149070A priority Critical patent/KR101929294B1/en
Publication of KR20180052028A publication Critical patent/KR20180052028A/en
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/06Automatic manoeuvring for parking
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08Interaction between the driver and the control system
    • B60W50/14Means for informing the driver, warning the driver or prompting a driver intervention
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08Interaction between the driver and the control system
    • B60W50/14Means for informing the driver, warning the driver or prompting a driver intervention
    • B60W2050/146Display means
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2420/00Indexing codes relating to the type of sensors based on the principle of their operation
    • B60W2420/42Image sensing, e.g. optical camera
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60YINDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2300/00Purposes or special features of road vehicle drive control systems
    • B60Y2300/06Automatic manoeuvring for parking
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60YINDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2400/00Special features of vehicle units
    • B60Y2400/92Driver displays

Abstract

According to an embodiment of the present invention, there is provided an automatic parking assisting apparatus comprising: a camera for photographing a vehicle periphery image; A display unit for displaying a graphic image related to the automatic parking function; And a processor for detecting a parking mark including parking information in the peripheral image of the vehicle, extracting a parking condition of the area surrounding the vehicle by analyzing the parking mark, and matching the user information with the parking condition, Controls the display unit to display a result of matching the user information and the parking condition.

Description

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

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic parking assisting apparatus provided in a vehicle and a vehicle including the same.

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

The automobiles are internal combustion engine cars, external combustion engine cars, gas turbine cars or electric vehicles according to the prime mover used.

Electric vehicles are electric vehicles that use electric energy to drive electric motors. They include pure electric vehicles, hybrid electric vehicles (HEV), plug-in hybrid electric vehicles (PHEV), and hydrogen fuel cell vehicles (FCEV).

Recently, the development of an intelligent vehicle (Smart Vehicle) has been actively developed for the safety and convenience of drivers and pedestrians.

Intelligent automobiles are also called smart automobiles, cutting-edge vehicles that combine information technology (IT) technology. Intelligent automobiles provide optimum transportation efficiency through interworking with intelligent transportation system (ITS) as well as introducing advanced system of automobile itself.

In addition, researches on sensors mounted on such an intelligent automobile are being actively conducted. The camera, the infrared sensor, the radar, the GPS, the lidar, and the gyroscope are used in the intelligent automobile, and the camera occupies an important position as a sensor that replaces the human eye.

Accordingly, a vehicle equipped with a driving assistance function that assists a user in driving and improves driving safety and convenience owing to the development of various sensors and electronic equipment has been attracting attention.

Particularly, there is a growing interest in automatic parking technology, which automatically carries out a parking operation in which a driver is difficult to operate.

As an example of the automatic parking technique, there is a technique of detecting a parking line by using a camera and performing automatic parking in a parking space sensed within the parking line. At this time, as a camera system for detecting a parking space, an around view monitoring (AVM) system for photographing all directions of a vehicle or a rear camera may be used.

The automatic parking function currently provided has a problem of unconditionally parking the detected parking space when a parking space of a certain size or more is detected regardless of the parking condition of the parking area.

However, most of the parking spaces have parking conditions such as vehicle condition, occupant condition, time condition, and cost per hour. In case of parking the vehicle automatically regardless of these conditions, Problems can arise.

In order to solve the above-described problems, an embodiment of the present invention provides an automatic parking assisting device for performing an automatic parking function by reflecting a parking condition in a peripheral area of a vehicle, and a vehicle including the same.

According to an embodiment of the present invention, there is provided an automatic parking assisting apparatus comprising: a camera for photographing a vehicle periphery image; A display unit for displaying a graphic image related to the automatic parking function; And a processor for detecting a parking mark including parking information in the peripheral image of the vehicle, extracting a parking condition of the area surrounding the vehicle by analyzing the parking mark, and matching the user information with the parking condition, Controls the display unit to display a result of matching the user information and the parking condition.

The embodiment provides a vehicle including the above-described automatic parking assist device.

The automatic parking assist apparatus according to the embodiment detects the parking condition in the area around the vehicle, compares the comparison result of the parking condition with the information of the user, and provides the comparison result to the user or reflects the result in the automatic parking function. have.

More specifically, the automatic parking assist device can detect a vehicle condition, a user condition, a time condition, and other conditions that can be parked in a parking condition, and detects user information including current time information, vehicle information and user personal information, The parking conditions can be matched. The automatic parking assistant carries out the automatic parking only when the user information and the parking condition are matched or displays the matched result to the user and carries out the automatic parking when the user accepts it, It can be parked automatically.

BRIEF DESCRIPTION OF THE DRAWINGS Fig. 1 shows an appearance of a vehicle equipped with an automatic parking assist device according to an embodiment of the present invention.
2 shows a block diagram of an automatic park assistant device according to an embodiment of the present invention.
3 shows a plane view of a vehicle equipped with an automatic parking assisting device according to an embodiment of the present invention.
4 shows an example of a camera according to an embodiment of the present invention.
5 and 6 are views for explaining an example of a method of generating image information from a camera image according to an embodiment of the present invention.
7 is a view showing an inner tube of a vehicle including an automatic parking assist device according to an embodiment of the present invention.
8A to 8D are diagrams for explaining a method of extracting a vehicle condition among parking conditions in a vehicle peripheral area according to an embodiment of the present invention.
FIGS. 9A and 9B are diagrams for explaining a method of extracting a user condition among parking conditions in a vehicle peripheral area according to an embodiment of the present invention.
Figure 10 shows the parking indications.
FIGS. 11A and 11B illustrate examples in which the automatic parking function is executed when a time condition is detected in a parking condition in the area around the vehicle according to the embodiment of the present invention.
FIGS. 12A to 12C show states in which the automatic parking function is executed when the time condition of the area around the vehicle is not satisfied according to the embodiment of the present invention.
Figs. 13A to 13C are examples of corresponding cases when detecting time conditions of the area around the vehicle according to the embodiment of the present invention.
14A to 14D are examples of specific positional conditions of a vehicle peripheral region according to an embodiment of the present invention.
FIG. 15 is a view for explaining a method of matching a time condition of a peripheral area of a vehicle with a schedule of a user according to an embodiment of the present invention.
16A to 16H are examples of a method of detecting the parking cost condition in the area around the vehicle according to the embodiment of the present invention.
17A to 17C are diagrams for explaining a method of detecting other parking conditions of a vehicle peripheral region according to an embodiment of the present invention.
FIG. 18 shows an example of a parking schedule condition in the area around the vehicle according to the embodiment of the present invention.
19 is an example of an internal block diagram of the vehicle of Fig. 1 including the above-described automatic parking assist system.

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.

Unless otherwise mentioned in the following description, the LHD (Left Hand Drive) vehicle will be mainly described.

In the following description, it is assumed that the automatic parking assisting device is a separate device provided in the vehicle, and carries out the automatic parking function by exchanging necessary information with the vehicle through data communication. However, a set of some of the units of the vehicle may be defined as an automatic parking assist device.

When the automatic parking assist device is a separate device, at least a part of each unit (see FIG. 2) of the automatic parking assist device is not included in the automatic parking assist device, but may be a unit of the vehicle or another device mounted on the vehicle have. It is understood that these external units are included in the automatic parking assist device by transmitting and receiving data through the interface part of the automatic parking assist device.

For convenience of explanation, it is assumed that the automatic parking assist apparatus according to the embodiment includes the respective units shown in FIG. 2 directly.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, an automatic parking assistance device according to an embodiment will be described in detail with reference to the drawings.

Referring to FIG. 1, a vehicle 700 according to an embodiment includes wheels 13FL and 13RL that are rotated by a power source, and an automatic parking assist device that controls the vehicle to move to a target parking position and provides an automatic parking function .

The automatic parking assist device according to this embodiment can detect the parking condition in the area around the vehicle, compare the parking condition with the information of the user and provide the comparison result to the user or reflect the result in the automatic parking function.

More specifically, the automatic parking assist device can detect a vehicle condition, a user condition, a time condition, and other conditions that can be parked in a parking condition, and detects user information including current time information, vehicle information and user personal information, The parking conditions can be matched. The automatic parking assistant can perform automatic parking only when the user information and the parking condition are matched, or display the matched result to the user and perform the automatic parking when the user accepts it.

Hereinafter, each configuration of the automatic parking assist device will be described in detail first.

2, the automatic parking assistance apparatus 100 includes an input unit 110, a communication unit 120, an interface unit 130, a memory 140, a sensor unit 155, a processor 170, a display unit 180, an audio output unit 185, and a power supply unit 190. However, the units of the automatic parking assist apparatus 100 shown in FIG. 2 are not essential for implementing the automatic parking assist apparatus 100, so that the automatic parking assist apparatus 100 described in this specification can be applied to the above- It can have more or fewer components than components.

To describe each configuration in detail, the automatic parking assist apparatus 100 may include an input unit 110 for sensing a user's input.

For example, the user can input settings for the automatic parking function provided by the automatic parking assist device 100 via the input unit 110, or turn on / off the automatic parking assist device 100 off) can be performed.

In the embodiment, the input unit 110 may sense an input for setting a target parking position, an input for whether to perform an automatic parking according to a parking condition and a user information matching result.

Also, in an embodiment, the input unit 110 may sense a user input for user information.

The input unit 110 may include a gesture input unit (e.g., an optical sensor) for sensing a user gesture, a touch input unit (e.g., a touch sensor, a touch key, A microphone, a mechanical key, and the like, and a microphone for sensing a voice input.

Next, the automatic parking assist device 100 may include a communication unit 120 that communicates with the other vehicle 510, the terminal 600, and the server 500 and the like.

The automatic parking assistant device 100 can receive communication information including at least one of navigation information, other vehicle driving information, and traffic information through the communication unit 120. [ On the other hand, the automatic parking assistant device 100 may transmit information about the vehicle viewed through the communication unit 120. [

In the embodiment, the communication unit 120 can receive the parking conditions in the area around the vehicle. Specifically, the communication unit 120 can receive parking conditions such as parking condition of a vehicle in the vicinity of the vehicle, parking user information, parking time, parking costs, and the like from a parking lot server or other server.

In addition, in the embodiment, the communication unit 120 can receive user information on whether the user's schedule, the user's home location, the user is pregnant, disabled, female, etc. from the user terminal 600 or the like.

The communication unit 120 receives at least one of the location information, the weather information, and the traffic situation information of the road (for example, TPEG (Transport Protocol Expert Group)) from the mobile terminal 600 and / or the server 500 Lt; / RTI >

In addition, the communication unit 120 can receive traffic information from the server 500 equipped with the intelligent traffic system (ITS). Here, the traffic information may include traffic signal information, lane information, vehicle periphery information, or location information.

Also, the communication unit 120 may transmit navigation information from the server 500 and / or the mobile terminal 600. [ Here, the navigation information may include at least one of map information related to vehicle driving, lane information, vehicle location information, set destination information, and route information according to a destination.

For example, the communication unit 120 can receive the real-time position of the vehicle with the navigation information. In detail, the communication unit 120 may include a GPS (Global Positioning System) module and / or a WiFi (Wireless Fidelity) module to acquire the position of the vehicle.

Also, the communication unit 120 can receive the running information of the other vehicle 510 from the other vehicle 510, transmit the information of the vehicle, and share the running information between the vehicles. Here, the traveling information shared by the two vehicles may include at least one or more information of the traveling direction information, position information, vehicle speed information, acceleration information, traveling route information, forward / backward information, adjacent vehicle information, and turn signal information of the vehicle .

In addition, when the user is boarding the vehicle, the user's mobile terminal 600 and the automatic parking assist device 100 may perform pairing with each other automatically or by executing the application of the user.

The communication unit 120 may exchange data with another vehicle 510, the mobile terminal 600, or the server 500 in a wireless manner.

More specifically, the communication unit 120 can wirelessly communicate using a wireless data communication system. Wireless data communication schemes include, but are not limited to, technical standards or communication schemes for mobile communication (e.g., Global System for Mobile communications (GSM), Code Division Multi Access (CDMA), Code Division Multi Access 2000 (Enhanced Voice-Data Optimized or Enhanced Voice-Data Only), WCDMA (Wideband CDMA), HSDPA (High Speed Downlink Packet Access), HSUPA (Long Term Evolution), LTE Term Evolution-Advanced) or the like can be used.

In addition, the communication unit 120 may use a wireless Internet technology. For example, the wireless communication unit 120 may be a WLAN (Wireless LAN), a Wi-Fi (Wireless-Fidelity) (HSDPA), Long Term Evolution (LTE), Long Term Evolution (LTE), and Long Term Evolution (LTE). Term Evolution-Advanced).

In addition, the communication unit 120 may use short range communication, and may be a Bluetooth ™, a Radio Frequency Identification (RFID), an Infrared Data Association (IrDA), an Ultra Wideband (UWB) ), ZigBee, Near Field Communication (NFC), Wireless-Fidelity (Wi-Fi), Wi-Fi Direct and Wireless Universal Serial Bus (USB) technologies.

In addition, the automatic parking assistant device 100 may be used to paring with a mobile terminal in a vehicle using a local area communication method, and may be wirelessly connected to another vehicle 510 or a server 500 using a long- Data can be exchanged.

Next, the automatic parking assist apparatus 100 may include an interface unit 130 that receives data of the vehicle or transmits signals processed or generated by the processor 170 to the outside.

More specifically, the automatic parking assistant 100 can receive at least one of the other vehicle running information, navigation information, and sensor information through the interface unit 130.

The automatic parking assistant apparatus 100 can transmit a control signal for executing the automatic parking function or the information generated by the automatic parking assist apparatus 100 to the control unit 770 of the vehicle through the interface unit 130 have.

To this end, the interface unit 130 performs data communication with at least one of a control unit 770, an AVN (Audio Video Navigation) device 400 and a sensing unit 760 in the vehicle by a wired communication or a wireless communication method .

In detail, the interface unit 130 can receive the navigation information by the data communication with the control unit 770, the AVN apparatus 400 and / or the separate navigation apparatus.

The interface unit 130 may receive the sensor information from the control unit 770 or the sensing unit 760.

Here, the sensor information includes at least one of direction information, position information, vehicle speed information, acceleration information, tilt information, forward / backward information, fuel information, distance information between the front and rear vehicles, And may include one or more pieces of information.

Also, the 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 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 door sensor. On the other hand, the position module may include a GPS module for receiving GPS information.

The interface unit 130 may receive the user input received through the user input unit 110 of the vehicle. The interface unit 130 may receive the user input from the input unit of the vehicle or the control unit 770. That is, when the input unit is arranged in the vehicle itself, user input may be received through the interface unit 130. [

In addition, the interface unit 130 may receive the traffic information obtained from the server 500. The server 500 may be a server located in a traffic control station that controls traffic. For example, when traffic information is received from the server 500 through the communication unit 120 of the vehicle, the interface unit 130 may receive the traffic information from the control unit 770. [

Next, the memory 140 may store various data for operation of the automatic parking assist device 100, such as a program for processing or controlling the processor 170. [

In an embodiment, the memory 140 may store user information. The processor 170 may then compare the detected parking condition with the user information stored in the memory.

In addition, the memory 140 may store a plurality of application programs (application programs or applications) driven by the automatic parking assist apparatus 100, data for operation of the automatic park assistant apparatus 100, . At least some of these applications may be downloaded from an external server via wireless communication. Also, at least some of these applications may reside on the automatic park assistant device 100 from the time of shipment for a basic function (e.g., a driving assistance information function) of the assistant parking assist device 100.

The application program is stored in the memory 140 and can be driven by the processor 170 to perform the operation (or function) of the automatic parking assist apparatus 100. [

Meanwhile, the memory 140 may store data for object identification included in the image. For example, when a predetermined object is detected in the vehicle surroundings image acquired through the camera 160, the memory 140 may store data for confirming what the object corresponds to according to a predetermined algorithm .

 For example, when the image acquired through the camera 160 includes a predetermined object such as a lane, a traffic sign, a two-wheeled vehicle, or a pedestrian, the memory 140 may determine by the predetermined algorithm what the object corresponds to The data can be stored.

The memory 140 may be implemented in hardware, such as a flash memory type, a hard disk type, a solid state disk type, an SDD type (Silicon Disk Drive type) (RAM), a static random access memory (SRAM), a read-only memory (ROM), an EEPROM , electrically erasable programmable read-only memory (PROM), programmable read-only memory (PROM), magnetic memory, magnetic disk, and optical disk.

In addition, the automatic parking assist device 100 may be operated in association with a web storage that performs a storage function of the memory 140 on the Internet.

Next, the automatic parking assisting apparatus 100 may further include a sensor unit 155 for sensing objects around the vehicle. The automatic parking assistant apparatus 100 may include a separate sensor unit 155 to sense peripheral objects and may receive sensor information obtained from the sensing unit 770 of the vehicle through the interface unit 130 . The sensor information thus obtained may be included in the vehicle periphery information.

In the embodiment, the sensor unit 155 can detect the parking condition in the area around the vehicle. More specifically, the sensor unit 155 can photograph an area around the vehicle to acquire an image. The processor 170 processes the acquired image to detect a parking mark indicating the parking condition, So that the parking condition can be obtained.

The sensor unit 155 may include at least one of a distance sensor 150 for sensing the position of an object located in the vicinity of the vehicle and a camera 160 for capturing an image of the surroundings of the vehicle.

First, the distance sensor 150 can precisely detect the position of the object, the direction in which the object is separated, the separation distance, or the moving direction of the object in the vehicle. The distance sensor 150 continuously measures the position of the detected object and can accurately detect a change in the positional relationship with the vehicle.

The distance sensor 150 may sense an object located in at least one of the front, back, right, and left sides of the vehicle. To this end, the distance sensor 150 may be located at various locations in the vehicle.

3, the distance sensor 150 may be disposed at at least one of the front, rear, left, right, and ceiling of the body of the vehicle.

The distance sensor 150 may include one or more of a variety of distance measurement sensors such as a lidar sensor, a laser sensor, an ultrasonic waves sensor, and a stereo camera.

For example, the distance sensor 150 may be a laser sensor that uses a time-of-flight (TOF) or / and a phase-shift or the like in accordance with a laser signal modulation method, The positional relationship between the objects can be accurately measured.

On the other hand, the information about the object can be obtained by analyzing the image captured by the camera 160 by the processor 170.

More specifically, the automatic parking assistant apparatus 100 photographs the surroundings of the vehicle with the camera 160, the processor 170 analyzes the obtained surroundings of the vehicle, detects the object near the vehicle, determines the property of the object, Information can be generated.

Here, the image information may be included in the sensor information as at least one of the type of the object, the traffic signal information displayed by the object, the distance between the object and the vehicle, and the position of the object.

More specifically, the processor 170 generates image information by performing object analysis such as detecting an object in an image photographed through image processing, tracking an object, measuring a distance to the object, and checking an object .

Such a camera 160 may be provided at various positions.

More specifically, the camera 160 may include an inner camera 160f that captures the front of the vehicle within the vehicle to acquire a forward image.

3, a plurality of cameras 160 may be disposed at each of at least one of left, rear, right, front, and ceiling of the vehicle, respectively.

More specifically, the left camera 160b can be disposed in a case surrounding the left side mirror. Alternatively, the left camera 160b may be disposed outside the case surrounding the left side mirror. Alternatively, the left camera 160b may be disposed in one area outside the left front door, the left rear door, or the left fender.

The right camera 160c may be disposed in a case surrounding the right side mirror. Or the right camera 160c may be disposed outside the case surrounding the right side mirror. Alternatively, the right camera 160c may be disposed in one area outside the right front door, the right rear door, or the right fender.

Further, the rear camera 160d can be disposed in the vicinity of the rear license plate or the trunk switch. The front camera 160a may be disposed in the vicinity of the ambulance or in the vicinity of the radiator grill.

Meanwhile, the processor 170 may synthesize images photographed from all directions, and provide an overview image of the vehicle viewed from the top view. When the surrounding view image is generated, a boundary portion between each image area occurs. These boundary portions can be naturally displayed by image blending processing.

Further, the ceiling camera 160e may be disposed on the ceiling of the vehicle to photograph all the front, rear, left, and right directions of the vehicle.

Such a camera 160 may directly include an image sensor and an image processing module. The camera 160 may process still images or moving images obtained by an image sensor (e.g., CMOS or CCD). In addition, the image processing module may process the still image or the moving image obtained through the image sensor, extract required image information, and transmit the extracted image information to the processor 170.

In order to allow the processor 170 to perform object analysis more easily, in an embodiment, the camera 160 may be a stereo camera that measures the distance to the object while shooting the image.

The sensor unit 155 may be a stereo camera in which the distance sensor 150 and the camera 160 are combined. That is, the stereo camera can detect the positional relationship with the object while acquiring the image.

Hereinafter, a stereo camera and a method for the processor 170 to detect image information using a stereo camera will be described in more detail with reference to FIGS. 4 to 6. FIG.

4, the stereo camera 160 may include a first camera 160a having a first lens 163a, and a second camera 160b having a second lens 163b .

On the other hand, the automatic parking assisting apparatus 100 includes a first light shield 162a and a second light shield 162b for shielding light incident on the first lens 163a and the second lens 163b, respectively, And a light shielding portion 162b.

This automatic parking assistance device 100 obtains a stereo image of the surroundings of the vehicle from the first and second cameras 160a and 160b, performs disparity detection based on the stereo image, Based on the information, object detection may be performed on at least one stereo image, and object motion may be continuously tracked after object detection.

5, the processor 170 in the automatic parking assistant apparatus 100 includes an image preprocessing unit 410, a disparity computing unit 420, an object detecting unit 434 An object tracking unit 440, and an application unit 450. 5 and FIG. 5, an image is processed in the order of an image preprocessing unit 410, a disparity computing unit 420, an object detecting unit 434, an object tracking unit 440, and an application unit 450, But is not limited to.

An image preprocessor 410 may receive an image from the camera 160 and perform preprocessing.

Specifically, the image preprocessing unit 410 may perform a noise reduction, a rectification, a calibration, a color enhancement, a color space conversion (CSC Interpolation, camera 160 gain control, and the like. Accordingly, a clearer image than the stereo image captured by the camera 160 can be obtained.

The disparity calculator 420 receives the image signal processed by the image preprocessing unit 410, performs stereo matching on the received images, and performs disparity calculation based on stereo matching, A disparity map can be obtained. That is, it is possible to obtain the disparity information about the stereo image with respect to the front of the vehicle.

At this time, the stereo matching may be performed on a pixel-by-pixel basis of stereo images or on a predetermined block basis. On the other hand, the disparity map may mean a map in which binaural parallax information of stereo images, i.e., left and right images, is numerically expressed.

The segmentation unit 432 may perform segmenting and clustering on at least one of the images based on the disparity information from the disparity calculating unit 420. [

Specifically, the segmentation unit 432 can separate the background and the foreground for at least one of the stereo images based on the disparity information.

For example, an area having dispaly information within a disparity map of a predetermined value or less can be calculated as a background, and the corresponding part can be excluded. Thereby, the foreground can be relatively separated. As another example, an area in which the dispetity information is equal to or greater than a predetermined value in the disparity map can be calculated with the foreground, and the corresponding part can be extracted. Thereby, the foreground can be separated.

Thus, by separating the foreground and the background based on the disparity information information extracted based on the stereo image, it becomes possible to shorten the signal processing speed, signal processing amount, and the like at the time of object detection thereafter.

Next, the object detector 434 can detect the object based on the image segment from the segmentation unit 432. [

That is, the object detecting unit 434 can detect an object for at least one of the images based on the disparity information.

More specifically, the object detecting unit 434 can detect an object for at least one of the images. For example, an object can be detected from a foreground separated by an image segment.

The object verification unit 436 then classifies and verifies the isolated object.

For this purpose, the object identifying unit 436 identifies the objects using a neural network identification method, a SVM (Support Vector Machine) method, a AdaBoost identification method using a Haar-like feature, or a Histograms of Oriented Gradients (HOG) Technique or the like can be used.

On the other hand, the object checking unit 436 can check the objects by comparing the objects stored in the memory 140 with the detected objects.

For example, the object identifying unit 436 can identify nearby vehicles, lanes, roads, signs, hazardous areas, tunnels, etc., located in the vicinity of the vehicle.

The object tracking unit 440 may perform tracking on the identified object. For example, it sequentially identifies an object in the acquired stereo images, calculates a motion or a motion vector of the identified object, and tracks movement of the object based on the calculated motion or motion vector . Accordingly, it is possible to track nearby vehicles, lanes, roads, signs, dangerous areas, tunnels, etc., located in the vicinity of the vehicle.

Next, the application unit 450 can calculate the risk of the vehicle and the like based on various objects located in the vicinity of the vehicle, for example, other vehicles, lanes, roads, signs and the like. It is also possible to calculate the possibility of a collision with a preceding vehicle, whether the vehicle is slipping or the like.

Then, the application unit 450 can output a message or the like for notifying the user to the user as vehicle driving assistance information, based on the calculated risk, possibility of collision, or slip. Alternatively, a control signal for attitude control or running control of the vehicle may be generated as the vehicle control information.

The object preprocessing unit 440 and the application unit 450 are connected to the processor 440. The image processing unit 410, the dispatcher unit 420, the segmentation unit 432, the object detection unit 434, the object verification unit 436, (See FIG. 31) in the image processing unit 170 shown in FIG.

The processor 170 includes an image preprocessing unit 410, a disparity computing unit 420, a segmentation unit 432, an object detection unit 434, an object verification unit 436, an object tracking unit 440, and an application unit 450. [0040] For example, when the camera 160 is composed of the mono camera 160 or the surround view camera 160, the disparity calculating unit 420 may be omitted. Also, according to the embodiment, the segmentation section 432 may be omitted.

Referring to FIG. 6, during the first frame period, the camera 160 may acquire a stereo image.

The disparity calculating unit 420 in the processor 170 receives the stereo images FR1a and FR1b signal-processed by the image preprocessing unit 410 and performs stereo matching on the received stereo images FR1a and FR1b And obtains a disparity map (520).

The disparity map 520 is obtained by leveling the parallax between the stereo images FR1a and FR1b. The higher the disparity level is, the closer the distance is from the vehicle, and the smaller the disparity level is, It is possible to calculate that the distance is long.

On the other hand, when such a disparity map is displayed, it may be displayed so as to have a higher luminance as the disparity level becomes larger, and a lower luminance as the disparity level becomes smaller.

In the figure, first to fourth lanes 528a, 528b, 528c, and 528d have corresponding disparity levels in the disparity map 520, and the construction area 522, the first front vehicle 524 ) And the second front vehicle 526 have corresponding disparity levels, respectively.

The segmentation unit 432, the object detection unit 434 and the object identification unit 436 determine whether or not the segments, the object detection, and the object detection information for at least one of the stereo images FR1a and FR1b based on the disparity map 520 Perform object verification.

In the figure, using the disparity map 520, object detection and confirmation for the second stereo image FRlb is performed.

That is, the first to fourth lanes 538a, 538b, 538c, and 538d, the construction area 532, the first forward vehicle 534, and the second forward vehicle 536 are included in the image 530, And verification may be performed.

With this image processing, the automatic parking assistant 100 can detect the parking mark using the sensor unit 155 and grasp the parking conditions displayed on the parking mark.

Next, the automatic parking assist apparatus 100 may further include a display unit 180 that displays a graphic image relating to the automatic parking function.

More specifically, in the embodiment, the display unit 180 can display the result of matching the parking condition and the parking condition with the user information.

Such a display unit may include a plurality of displays.

In detail, the display unit may include a first display unit 180a for projecting and displaying a graphic image on a windshield W of the vehicle. That is, the first display unit 180a may be a head up display (HUD), and may include a projection module for projecting a graphic image on the windshield W. The projected graphic image projected by the projection module may have a certain transparency. Thus, the user can simultaneously view the graphic image and the graphic image.

The graphical image may be superimposed on the projection image projected onto the windshield W to form an Augmented Reality (AR).

Meanwhile, the display unit may include a second display unit 180b installed inside the vehicle for displaying an image of the automatic parking function.

In detail, the second display unit 180b may be a display of the vehicle navigation device or a cluster on the inside of the vehicle interior.

The second display unit 180b may be a liquid crystal display (LCD), a thin film transistor-liquid crystal display (TFT) LCD, an organic light-emitting diode (OLED) And may include at least one of a flexible display, a 3D display, and an e-ink display.

The second display unit 180b may be combined with the gesture input unit to form a touch screen.

Next, the audio output unit 185 can output a message to the audio output unit 185 to confirm whether or not the function of the automatic parking assist device 100 is performed, whether or not the function is performed. That is, the automatic parking assist device 100 may supplement the description of the function of the automatic parking assist device 100 through the audio output of the audio output portion 185 together with the visual display through the display portion 180 .

Next, the haptic output unit may output the alarm for the automatic parking function as a haptic. For example, when the automatic parking assist device 100 includes a warning to the driver in at least one of the navigation information, the traffic information, the communication information, the vehicle status information, the driving assistant function ADAS information, and other driver's convenience information , It can be notified to the user by vibration.

Such a haptic output section can provide directional vibration. For example, the haptic output unit may be disposed in the steering for controlling the steering to output the vibration, and when the vibration is provided, the haptic output may be imparted with directionality by outputting the vibration by dividing the left and right of the steering.

In addition, the power supply unit 190 may receive external power and internal power under the control of the processor 170 to supply power required for operation of the respective components.

Finally, the automatic park assistant device 100 may include a processor 170 that controls the overall operation of each unit within the automatic park assistant device 100.

In addition, processor 170 may control at least some of the components discussed with FIG. 3 to drive the application program. Further, the processor 170 may operate at least two of the components included in the automatic parking assist device 100 in combination with each other for driving the application program.

Such a processor 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) 170 may be implemented using at least one of processors, controllers, micro-controllers, microprocessors 170, and electrical units for performing other functions.

The processor 170 may be controlled by the control unit or may control various functions of the vehicle through the control unit.

In addition to operations associated with application programs stored in the memory 140, the processor 170 typically controls the overall operation of the self-parking assist device 100. Processor 170 may provide or process appropriate information or functionality to a user by processing signals, data, information, etc., input or output through the components discussed above, or by driving application programs stored in memory 170.

Hereinafter, a process of detecting the parking condition in the area around the vehicle and comparing the parking condition with the user information will be described in detail.

When the automatic parking function is executed, the automatic parking assistant device 100 can acquire the parking condition in the area around the vehicle through the communication unit 120, the sensor unit 155, and the like.

More specifically, the automatic parking assistant device 100 photographs the parking mark in the area around the vehicle with the camera 160, and the processor 170 performs image processing of the photographed image to detect the parking mark, The parking condition can be obtained.

The automatic parking assistant device 100 may also receive the parking condition from the nearby parking lot server through the communication unit 120. [

Here, the parking condition may include a vehicle condition, a vehicle user condition, a time condition, and a specific parking condition area condition in a vehicle peripheral area.

Further, the user information may include at least one of vehicle information, user personal information of the vehicle, and present time information.

Thereafter, the processor 170 compares the user information stored in the memory 140 with the parking condition to determine whether the vehicle can be parked in the area around the vehicle, if possible for several hours, if not possible, The time can be calculated, the time is once, the cost is how long it takes, and so on.

Then, the processor 170 displays the calculated matching result through the display unit 180, thereby providing convenience to the user.

In addition, the processor 170 can automatically park the vehicle in the area around the vehicle if the parking is possible in the matching result, and can move the vehicle to the parking-enabled area in advance at the time when parking becomes impossible.

Hereinafter, specific embodiments for comparing the parking condition with the user information will be described.

First, the processor 170 can compare whether or not the vehicle condition in the parking condition matches the vehicle information.

More specifically, referring to FIG. 8A, the processor 170 can detect information about a vehicle that can be parked from a parking mark. More specifically, the processor 170 may be configured to display only a truck capable of parking, a sign that only an electric vehicle can be parked, a sign that only a fuel car can be parked, a sign that an electric charge system is provided, a sign that only a light car can be parked, A sign indicating that only a motorcycle can be parked, a sign indicating that only a bicycle can be parked, and a mark indicating that only a taxi can be parked can be detected as parking conditions.

8B, the processor 170 photographs the surroundings of the vehicle, detects a parking mark, which is exclusively for a passenger car, in the photographed image, and detects a vehicle condition that only the passenger is allowed to park.

Referring to FIG. 8C, the processor 170 may detect and acquire different vehicle conditions for each layer and each location even if the same parking lot exists.

8D, the processor 170 may acquire the vehicle condition that only the passenger car can be parked through the communication unit 120. [

The processor 170 compares the acquired vehicle condition with the vehicle information stored in the memory 140 to confirm whether or not the vehicle condition is matched.

If matched, the processor 170 may display the result that the user is matched to the vehicle condition, and may perform the automatic parking function.

If not, the processor 170 may indicate to the user that the vehicle information is not matched to the vehicle condition, and may not implement the automatic parking function.

For example, the processor 170 controls the display unit 180 to display the area around the vehicle as a parking zone if the parking condition in the area around the vehicle is a light parking area and the vehicle is a light vehicle in the user information, If the vehicle is not a light vehicle, the display unit 180 may be controlled to display the area around the vehicle as a non-parking area.

On the other hand, the automatic parking assistant device 100 can detect the user condition, which is a parking condition according to the occupant of the vehicle, and compare the user condition and the information of the occupant.

More specifically, referring to FIG. 9A, the processor 170 can detect a condition that only a visitor can park, a condition that only a pregnant woman can park, a user condition that only a disabled person can park, and the like through a parking mark.

9B, the processor 170 can detect a specific condition or the like that can be parked only by a resident through a parking mark.

The processor 170 may obtain the occupant information through the communication unit 120, the monitoring unit, and the like, compare the occupant information with the user condition, and determine whether or not the occupant information can be parked in the area around the vehicle.

If matched, the processor 170 can control the display unit 180 to display the result that the user condition is matched with the occupant information, and can execute the automatic parking function.

If not, the processor 170 may control the display unit 180 to display the result that the occupant information does not match the user condition, and may not execute the automatic parking function.

For example, the processor 170 extracts that the parking condition of the area surrounding the vehicle is the occupant-only parking area, and if the occupant of the area surrounding the vehicle is occupying the vehicle in the user information, , And controls the display unit 180 to display the area around the vehicle in an un-parkable area if the occupant of the area surrounding the vehicle is not occupied by the user information.

On the other hand, the automatic parking assistant device 100 can detect the time condition of the area around the vehicle and compare the time condition with the current time.

More specifically, the processor 170 can detect the parking allowable time range in the area around the vehicle through the parking mark or the like. The processor 170 may then determine whether the current time is included in the parking allowable time range.

Further, the processor 170 may determine whether the user's schedule meets the parking allowable time range.

For example, referring to FIG. 11A, the processor 170 can detect information indicating that parking is possible from 7:00 am to 7:00 pm, which is a parking time, and 2 hours, as time conditions.

When the current time is 6:30 PM, the processor 170 can control the display unit 180 to display a result that the parking is possible because the vehicle is within the parking range. Further, the processor 170 may control the display unit 180 to display a result indicating that parking is possible for 30 minutes since parking is possible by 7 PM.

Referring to FIG. 11B, the processor 170 may control the display unit 180 to display a result indicating that the parking is not possible if the current time is not within the parking allowable time range, can do.

That is, the processor 170 extracts that the parking condition of the area around the vehicle is the parking time of the area around the vehicle, displays the parking time if the current time corresponds to the parkable time range, It is possible to control the display unit 180 to display it as a possible area. Conversely, if the current time does not correspond to the parking allowable time range, the display unit 180 can be controlled to display the parking allowable time and display the area around the vehicle as an un-parkable area.

The processor 170 can also control the display unit 180 to display time information from the current time to the parking available time when the parking condition is within the parking allowable time range.

That is, the processor 170 may control the display unit 180 to further display a waiting time from the current time to the time when parking can be started, if the current time does not correspond to the parking allowable time range.

Referring to Fig. 12A, the display unit 180 may display the current time and remaining parking time together with the parking mark indicating the parking time condition.

The processor 170 may also detect other areas that may be parked at a later time if the user schedule exceeds the parkable time.

Referring to FIG. 12B, the processor 170 displays a message indicating that the available time to park the user terminal is shorter than the predetermined time when the parking time is to be exceeded, Information can be transmitted through the network 120.

Referring to FIG. 12C, when parking in the area around the vehicle is impossible, the display unit 180 may display another area where parking is possible, and may further display the time required for walking to another area.

In addition, the processor 170, if not meeting the time condition, may provide a corresponding countermeasure to the user.

More specifically, referring to FIG. 13A, the display unit 180 can display a time required until the time when parking becomes possible when the time when parking is possible is short.

Referring to FIG. 13B, the display unit may display a highlight of a portion of the area around the vehicle that can not be parked, along with the time condition, and may also display a parking mark, such as a towing area.

13C, the display unit 180 may display a parking mark including a time condition, display the current time, and display a matching result that is currently impossible to park.

On the other hand, the processor 170 may acquire a parking position condition in the area around the vehicle. Then, the processor 170 can search for the target parking position that can be parked according to the acquired positional conditions.

Referring to FIG. 14A, the processor 170 may obtain a location condition that maintains a distance of at least 3 meters from the mailbox and / or a distance from the lane marking to at least 3 meters from the communication information and / or the parking sign, The target parking position can be searched.

14B, the processor 170 may obtain a position condition that maintains a distance of 10 m or more forward of the bus stop from the communication information and / or the parking mark, and maintains a distance of 20 m or more backward, So that the target parking position can be searched.

Further, referring to 14c, the processor 170 can obtain a position condition indicating that parking is not possible within 10 meters forward and 20 meters rearward from the crosswalk from the communication information and / or the parking mark, . ≪ / RTI >

14D, the processor 170 can acquire a position condition that it is impossible to park within a distance of 20m from the railway crossing from the communication information and / or the parking mark, and reflects the position condition to search for the target parking position can do.

On the other hand, the processor 170 extracts the user schedule from the user information, analyzes the parking mark, extracts the parking allowable time in the area around the vehicle, and determines that the current time corresponds to the parking allowable time range, If the range is matched, the display unit 180 can be controlled to display the area around the vehicle as a parking available area.

Referring to FIG. 15, the processor 170 may acquire user schedule information from a user terminal, and may control the display unit 180 to display a comparison result by comparing with a parking allowable time range.

The processor 170 extracts the user schedule from the user information, analyzes the parking mark, extracts the parking condition of the area around the vehicle from the paid parking lot, calculates the estimated parking cost based on the user schedule, It may control the display unit 180 to display a message asking whether or not to execute the parking with the cost.

In detail, referring to FIG. 16A, the display unit 180 can display a mark indicating a paid parking area in the area around the vehicle, and can indicate whether or not to automatically park in the paid parking lot.

Referring to FIG. 16B, the display unit 180 may display a user schedule in addition to whether or not the area around the vehicle is marked as a toll parking lot, whether to park automatically.

16C, the display unit 180 may further display available parking coupons.

16D, the display unit 180 may further display conditions according to the parking cost.

Referring to FIG. 16C, the display unit 180 may display the cost of the parking lot in the area around the vehicle on a map, and compare the cost information at a glance.

16F, the processor 170 may detect an object processing the parking fee, and detect a cost condition that the area around the vehicle is a paid parking lot.

Referring to FIG. 16G, the processor 170 may analyze an object that processes the parking fee, and may further detect a condition for paying for parking costs, payable means, and the like, (180).

16H, the display unit 180 may further display information on the time when the vehicle has parked.

On the other hand, when the parking mark includes text, the processor 170 analyzes the parking mark, extracts the text, translates the language written in the text into another language, and displays the translated language on the display 180 ).

Referring to FIG. 17A, the processor 170 can detect a parking mark in which the time condition, the user condition, the location condition, and the vehicle condition are written in English around the vehicle. The processor 170 can translate such English into Korean and control the display unit 180 to display the translated Korean.

17B and 17C, the processor 170 can detect the text of the time condition described in various languages in the photographed image, translate the detected language into the language set by the user, and display The display unit 180 can be controlled.

On the other hand, when a plurality of parking signs are detected, the processor 170 analyzes a plurality of parking signs to extract a plurality of parking conditions in the area around the vehicle, matches the user information with a plurality of parking conditions, It is possible to control the display unit 180 to display a result of matching a plurality of parking conditions.

Referring to Fig. 18, the processor 170 can detect at least two or more parking signs, and simultaneously detect at least two parking conditions among a time condition, a user condition, a location condition, and a vehicle condition around the vehicle.

On the other hand, referring to FIG. 19, the above-described automatic parking assist apparatus 100 may be included in the vehicle 700. FIG.

The vehicle includes a communication unit 710, an input unit 720, a sensing unit 760, an output unit 740, a vehicle driving unit 750, a memory 730, an interface unit 780, a control unit 770, a power source unit 790, A self-parking assist device 100, and an AVN device 400. [ Here, it is assumed that the unit included in the automatic parking assist device 100 and the unit having the same name among the units described in the vehicle are included in the vehicle.

The communication unit 710 may include one or more modules that enable wireless communication between the vehicle and the mobile terminal 600, between the vehicle and the external server 500, or between the vehicle and the other vehicle 510. [ In addition, the communication unit 710 may include one or more modules that connect the vehicle to one or more networks.

The communication unit 710 may include a broadcast receiving module 711, a wireless Internet module 712, a local area communication module 713, a location information module 714, and an optical communication module 715.

The broadcast receiving module 711 receives broadcast signals or broadcast-related information from an external broadcast management server through a broadcast channel. Here, the broadcast includes a radio broadcast or a TV broadcast.

The wireless Internet module 712 is a module for wireless Internet access, and can be built in or externally mounted in a vehicle. The wireless Internet module 712 is configured to transmit and receive wireless signals in a communication network according to wireless Internet technologies.

Wireless Internet technologies include, for example, WLAN (Wireless LAN), Wi-Fi (Wireless Fidelity), Wi-Fi (Wireless Fidelity) Direct, DLNA, WiBro World Wide Interoperability for Microwave Access (HSDPA), High Speed Uplink Packet Access (HSUPA), Long Term Evolution (LTE), and Long Term Evolution-Advanced (LTE-A) (712) transmits and receives data according to at least one wireless Internet technology in a range including internet technologies not listed above. For example, the wireless Internet module 712 can exchange data with the external server 500 wirelessly. The wireless Internet module 712 can receive weather information and road traffic situation information (for example, TPEG (Transport Protocol Expert Group)) information from the external server 500. [

The short-range communication module 713 is for short-range communication and may be a Bluetooth ™, a Radio Frequency Identification (RFID), an Infrared Data Association (IrDA), an Ultra Wideband (UWB) 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 713 may form short range wireless communication networks (Wireless Area Networks) to perform short range communication between the vehicle and at least one external device. For example, the short-range communication module 713 can exchange data with the mobile terminal 600 wirelessly. The short distance communication module 713 can receive weather information and traffic situation information of the road (for example, TPEG (Transport Protocol Expert Group)) from the mobile terminal 600. For example, when the user has boarded the vehicle, the user's mobile terminal 600 and the vehicle can perform pairing with each other automatically or by execution of the user's application.

The position information module 714 is a module for acquiring the position of the vehicle, 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.

The optical communication module 715 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. 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 715 can exchange data with another vehicle 510 via optical communication.

The input unit 720 may include a driving operation unit 721, a camera 195, a microphone 723, and a user input unit 724.

The driving operation means 721 receives a user input for driving the vehicle. The driving operation means 721 may include a steering input means 721A, a shift input means 721D, an acceleration input means 721C, and a brake input means 721B.

The steering input means 721A receives the input of the traveling direction of the vehicle from the user. The steering input means 721A is preferably formed in a wheel shape so that steering input is possible by rotation. According to the embodiment, the steering input means 721A may be formed of a touch screen, a touch pad, or a button.

The shift input means 721D receives inputs of parking (P), forward (D), neutral (N), and reverse (R) of the vehicle from the user. The shift input means 721D is preferably formed in a lever shape. According to an embodiment, the shift input means 721D may be formed of a touch screen, a touch pad, or a button.

The acceleration input means 721C receives an input for acceleration of the vehicle from the user. The brake inputting means 721B receives an input for decelerating the vehicle from the user. The acceleration input means 721C and the brake input means 721B are preferably formed in the form of a pedal. According to the embodiment, the acceleration input means 721C or the brake input means 721B may be formed of a touch screen, a touch pad, or a button.

The camera 722 may include an image sensor and an image processing module. The camera 722 may process still images or moving images obtained by an image sensor (e.g., CMOS or CCD). The image processing module processes the still image or moving image obtained through the image sensor, extracts necessary information, and transmits the extracted information to the control unit 770. On the other hand, the vehicle may include a camera 722 for shooting a vehicle front image or a vehicle peripheral image, and a monitoring unit 725 for shooting an in-vehicle image.

The monitoring unit 725 may acquire an image of the occupant. The monitoring unit 725 may obtain an image for biometrics of the occupant.

19, the monitoring unit 725 and the camera 722 are included in the input unit 720. However, the camera 722 may be configured to include the automatic parking assist device 100 as described above, .

The microphone 723 can process an external sound signal as electrical data. The processed data can be used variously depending on the function being performed in the vehicle. The microphone 723 can convert the voice command of the user into electrical data. The converted electrical data can be transmitted to the control unit 770.

The camera 722 or the microphone 723 may be a component included in the sensing unit 760 rather than a component included in the input unit 720. [

The user input unit 724 is for receiving information from a user. When information is input through the user input unit 724, the control unit 770 can control the operation of the vehicle to correspond to the input information. The user input unit 724 may include touch input means or mechanical input means. According to an embodiment, the user input 724 may be located in one area of the steering wheel. In this case, the driver can operate the user input portion 724 with his / her finger while holding the steering wheel.

The sensing unit 760 senses a signal related to the running or the like of the vehicle. To this end, the sensing unit 760 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, , A position module, a vehicle forward / reverse sensor, a battery sensor, a fuel sensor, a tire sensor, a steering sensor by steering wheel rotation, a vehicle internal temperature sensor, an internal humidity sensor, an ultrasonic sensor, a radar, .

Thereby, the sensing unit 760 can acquire the vehicle collision information, vehicle direction information, vehicle position information (GPS information), vehicle angle information, vehicle speed information, vehicle acceleration information, vehicle tilt information, , Fuel information, tire information, vehicle lamp information, vehicle interior temperature information, vehicle interior humidity information, steering wheel rotation angle, and the like.

In addition, the sensing unit 760 may include an acceleration 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, A position sensor (TPS), a TDC sensor, a crank angle sensor (CAS), and the like.

The sensing unit 760 may include a biometric information sensing unit. The biometric information sensing unit senses and acquires the biometric information of the passenger. The biometric information may include fingerprint information, iris-scan information, retina-scan information, hand geo-metry information, facial recognition information, Voice recognition information. The biometric information sensing unit may include a sensor that senses the passenger's biometric information. Here, the monitoring unit 725 and the microphones 723 may operate as sensors. The biometric information sensing unit can acquire the hand shape information and the face recognition information through the monitoring unit 725.

The output unit 740 is for outputting information processed by the control unit 770 and may include a display unit 741, an acoustic output unit 742, and a haptic output unit 743. [

The display unit 741 can display information processed in the control unit 770. For example, the display unit 741 can display the vehicle-related information. Here, the vehicle-related information may include vehicle control information for direct control of the vehicle, or 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 unit 741 may be a liquid crystal display (LCD), a thin film transistor-liquid crystal display (TFT LCD), an organic light-emitting diode (OLED) display, a 3D display, and an e-ink display.

The display unit 741 may have a mutual layer structure with the touch sensor or may be integrally formed to realize a touch screen. This touch screen may function as a user input 724 that provides an input interface between the vehicle and the user, while providing an output interface between the vehicle and the user. In this case, the display unit 741 may include a touch sensor that senses a touch with respect to the display unit 741 so that a control command can be received by a touch method. When a touch is made to the display unit 741, the touch sensor senses the touch, and the control unit 770 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 unit 741 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 unit 741 may be implemented as a Head Up Display (HUD). When the display unit 741 is implemented as a HUD, information can be output through a transparent display provided in the windshield. Alternatively, the display unit 741 may include a projection module to output information through an image projected on the windshield.

The sound output unit 742 converts an electric signal from the control unit 770 into an audio signal and outputs the audio signal. For this purpose, the sound output unit 742 may include a speaker or the like. It is also possible for the sound output section 742 to output a sound corresponding to the operation of the user input section 724. [

The haptic output unit 743 generates a tactile output. For example, the haptic output section 743 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 750 can control the operation of various devices of the vehicle. The vehicle driving unit 750 includes a power source driving unit 751, a steering driving unit 752, a brake driving unit 753, a lamp driving unit 754, an air conditioning driving unit 755, a window driving unit 756, an airbag driving unit 757, A driving unit 758 and a suspension driving unit 759.

The power source drive section 751 can perform electronic control of the power source in the vehicle.

For example, when the fossil fuel-based engine (not shown) is a power source, the power source drive unit 751 can perform electronic control on the engine. Thus, the output torque of the engine and the like can be controlled. When the power source drive unit 751 is an engine, the speed of the vehicle can be limited by limiting the engine output torque under the control of the control unit 770. [

As another example, when the electric motor (not shown) is a power source, the power source driving unit 751 can perform control on the motor. Thus, the rotation speed, torque, etc. of the motor can be controlled.

The steering driver 752 may perform electronic control of a steering apparatus in the vehicle. Thus, the traveling direction of the vehicle can be changed.

The brake driver 753 can perform electronic control of a brake apparatus (not shown) in the vehicle. For example, it is possible to reduce the speed of the vehicle 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 to the left or right by differently operating the brakes respectively disposed on the left wheel and the right wheel.

The lamp driver 754 can control the turn-on / turn-off of the lamps disposed inside and 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 755 can perform electronic control on an air conditioner (not shown) in the vehicle. 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 756 may perform electronic control of a window apparatus in the vehicle. 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 driving unit 757 can perform electronic control of the airbag apparatus in the vehicle. For example, in case of danger, the airbag can be controlled to fire.

The sunroof driving unit 758 may perform electronic control of a sunroof apparatus (not shown) in the vehicle. For example, the opening or closing of the sunroof can be controlled.

The suspension driving unit 759 can perform electronic control of a suspension apparatus (not shown) in the vehicle. 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.

The memory 730 is electrically connected to the control unit 770. The memory 770 may store basic data for the unit, control data for controlling the operation of the unit, and input / output data. The memory 790 can be, in hardware, various storage devices such as a ROM, a RAM, an EPROM, a flash drive, a hard drive, and the like. The memory 730 may store various data for operation of the entire vehicle, such as a program for processing or controlling the control unit 770.

The interface unit 780 can serve as a pathway to various kinds of external devices connected to the vehicle. For example, the interface unit 780 may include a port that can be connected to the mobile terminal 600, and may be connected to the mobile terminal 600 through the port. In this case, the interface unit 780 can exchange data with the mobile terminal 600.

Meanwhile, the interface unit 780 may serve as a channel for supplying electrical energy to the connected mobile terminal 600. The interface unit 780 provides electric energy supplied from the power supply unit 790 to the mobile terminal 600 under the control of the control unit 770 when the mobile terminal 600 is electrically connected to the interface unit 780 do.

The control unit 770 can control the overall operation of each unit in the vehicle. The control unit 770 may be referred to as an ECU (Electronic Control Unit).

The controller 770 can perform a function corresponding to the transmitted signal in accordance with the delivery of the execution signal of the automatic parking assist device 100.

The controller 770 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 control unit 770 can delegate the role of the processor 170 described above. That is, the processor 170 of the automatic parking assist apparatus 100 can be set directly to the control unit 770 of the vehicle. In this embodiment, it is understood that the automatic parking assist device 100 refers to a combination of some parts of the vehicle.

Alternatively, the control unit 770 may control the configurations so as to transmit the information requested by the processor 170. [

The power supply unit 790 can supply power necessary for the operation of each component under the control of the control unit 770. [ Particularly, the power supply unit 770 can receive power from a battery (not shown) in the vehicle.

The AVN (Audio Video Navigation) device 400 can exchange data with the control unit 770. The control unit 770 can receive navigation information from the AVN apparatus 400 or a separate navigation device (not shown). Here, the navigation information may include set destination information, route information according to the destination, map information about the vehicle driving, or vehicle location information.

The features, structures, effects and the like described in the foregoing embodiments are included in at least one embodiment of the present invention and are not necessarily limited to one embodiment. Further, the features, structures, effects, and the like illustrated in the embodiments may be combined or modified in other embodiments by those skilled in the art to which the embodiments belong. Therefore, it should be understood that the present invention is not limited to these combinations and modifications.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is clearly understood that the same is by way of illustration and example only and is not to be construed as limiting the scope of the present invention. It can be seen that various modifications and applications are possible. For example, each component specifically shown in the embodiments may be modified and implemented. It is to be understood that the present invention may be embodied in many other specific forms without departing from the spirit or essential characteristics thereof.

Claims (12)

  1. A camera for photographing the surroundings of the vehicle;
    A display unit for displaying a graphic image related to the automatic parking function; And
    Detecting a parking mark including parking information in the vehicle periphery image,
    And a processor for analyzing the parking mark and extracting a parking condition in an area around the vehicle,
    The processor comprising:
    Obtaining a parking position condition of the vehicle periphery area from the parking mark;
    Searches for a target parking position that can be parked based on the acquired position condition,
    When an object processing the parking charge is detected in the vehicle periphery image, a cost payment condition including the parking fee and the payment means is detected based on the detection result, and the detected cost payment condition is displayed through the display unit
    Automatic parking aid.
  2. The method according to claim 1,
    The processor comprising:
    The control unit controls the display unit to match the user information with the parking condition, display the matching result,
    The user information includes:
    And at least one of the vehicle information of the user, the user personal information, and the current time information
    Automatic parking aid.
  3. 3. The method of claim 2,
    The processor
    Wherein the parking condition in the area surrounding the vehicle is a light parking area,
    The control unit controls the display unit to display the area around the vehicle as a parkable area if the vehicle is a light vehicle in the user information,
    If the vehicle is not a light vehicle in the user information, the control unit controls the display unit to display the area around the vehicle as a non-
    Automatic parking aid.
  4. 3. The method of claim 2,
    The processor
    Extracting that the parking condition in the area surrounding the vehicle is a parking area reserved for the occupant,
    The control unit controls the display unit to display the area around the vehicle as a parkable area if a resident of the area surrounding the vehicle is riding on the vehicle in the user information,
    If the occupant of the area around the vehicle is not occupied by the user information, the control unit controls the display unit to display the area around the vehicle as a non-
    Automatic parking aid.
  5. 3. The method of claim 2,
    The processor
    Extracting that the parking condition in the area around the vehicle is the parking time in the area around the vehicle,
    Displays the available parking time if the current time corresponds to the available parking time range, controls the display unit to display the peripheral area of the vehicle as a parkable area,
    Displays the available parking time if the current time does not correspond to the parking allowable time range, and controls the display unit to display the peripheral area of the vehicle as an un-parkable area
    Automatic parking aid.
  6. 6. The method of claim 5,
    The processor
    If the parking condition is within the parking allowable time range,
    And controls the display unit to display time information from the current time to a parking allowable time
    Automatic parking aid.
  7. 6. The method of claim 5,
    The processor
    If the current time does not correspond to the parking allowable time range,
    And controls the display unit to further display a waiting time from the current time to the time when parking can be started
    Automatic parking aid.
  8. 3. The method of claim 2,
    Further comprising a communication unit for receiving the user information,
    The processor
    Extracting a user schedule from the user information,
    Extracting a parking allowable time in the area around the vehicle by analyzing the parking mark,
    If the current time corresponds to the available parking time range and the user schedule and the available parking time range are matched, the control unit controls the display unit to display the peripheral area of the vehicle as a parkable zone
    Automatic parking aid.
  9. 3. The method of claim 2,
    Further comprising a communication unit for receiving the user information,
    The processor
    Extracting a user schedule from the user information,
    Analyzing the parking mark, extracting the parking condition of the peripheral area of the vehicle as a paid parking lot,
    Calculates a predicted parking cost based on the user schedule, and controls the display unit to display a message asking whether or not parking is to be performed together with the estimated parking cost
    Automatic parking aid.
  10. The method according to claim 1,
    Wherein the parking mark comprises text,
    The processor analyzes the parking mark,
    Extracting the text,
    Translating the language written in the text into another language,
    And controls the display unit to display the translated other language
    Automatic parking aid.
  11. The method according to claim 1,
    A plurality of the parking signs are detected,
    The processor
    Extracting a plurality of parking conditions of the peripheral area of the vehicle by analyzing the plurality of parking signs,
    Wherein the parking information includes a plurality of parking conditions,
    And controls the display unit to display a result of matching the user information and the plurality of parking conditions
    Automatic parking aid.
  12. A vehicle including the automatic parking assist device according to claim 1.
KR1020160149070A 2016-11-09 2016-11-09 Parking Assistance Apparatus and Vehicle Having The Same KR101929294B1 (en)

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Publication number Priority date Publication date Assignee Title
CN108995641A (en) * 2018-07-26 2018-12-14 中国第汽车股份有限公司 A kind of vehicle parking control method based on EPB system

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JP2007076586A (en) * 2005-09-16 2007-03-29 Alpine Electronics Inc Parking support starting device
KR100757012B1 (en) * 2006-03-16 2007-09-07 미래산전 주식회사 A parking system and a method for resident designated lots
JP2009205191A (en) * 2008-02-26 2009-09-10 Hitachi Ltd Parking space recognition system
JP2012068182A (en) * 2010-09-27 2012-04-05 Denso Corp Illegal parking prevention device
JP2014228374A (en) * 2013-05-22 2014-12-08 日産自動車株式会社 Information providing apparatus, information providing system, and information providing method
JP2015118438A (en) * 2013-12-17 2015-06-25 みこらった株式会社 Automatic driving car
JP2016095688A (en) * 2014-11-14 2016-05-26 株式会社デンソー On-vehicle information display device

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Publication number Priority date Publication date Assignee Title
JP2007076586A (en) * 2005-09-16 2007-03-29 Alpine Electronics Inc Parking support starting device
KR100757012B1 (en) * 2006-03-16 2007-09-07 미래산전 주식회사 A parking system and a method for resident designated lots
JP2009205191A (en) * 2008-02-26 2009-09-10 Hitachi Ltd Parking space recognition system
JP2012068182A (en) * 2010-09-27 2012-04-05 Denso Corp Illegal parking prevention device
JP2014228374A (en) * 2013-05-22 2014-12-08 日産自動車株式会社 Information providing apparatus, information providing system, and information providing method
JP2015118438A (en) * 2013-12-17 2015-06-25 みこらった株式会社 Automatic driving car
JP2016095688A (en) * 2014-11-14 2016-05-26 株式会社デンソー On-vehicle information display device

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