KR102016022B1 - Control apparatus for autonomous parking assist and method thereof - Google Patents

Abstract

The present invention relates to an automatic parking control apparatus and a control method, which is mounted on a steering wheel and detects a contact between a user and the steering wheel, based on a steering information of a vehicle, driving information, and the presence of the contact. A steering unit for calculating steering torque of the vehicle and reaction torque due to the road surface load of the vehicle, and determining a release or execution of the automatic parking mode, and generating a release signal or an execution signal of the automatic parking mode according to the determined result It provides an automatic parking control device including a generation unit and a transceiver for receiving the steering information and the driving information, and transmits the release signal or the execution signal.

Description

CONTROL APPARATUS FOR AUTONOMOUS PARKING ASSIST AND METHOD THEREOF}

The present invention relates to an apparatus and method for controlling the release or execution of an automatic parking assist system operation using a capacitive sensor.

Recently, as autonomous vehicles are attracting attention, an increasing number of vehicles are equipped with an automatic parking assistance system that assists in parking or leaving the vehicle by controlling the position trajectory of the vehicle. Such automatic parking assistance system may be referred to as a Smart Parking Assisting System (SPAS), an Intelligent Parking Assist System (IPAS), or an Advanced Parking Guidance System (APAS).

At this time, the SPAS (Smart Parking Assist System) searches for an optimal parking space using a sensor or a camera and calculates a parking route according to the search result, thereby automatically steering the vehicle to the parking space. It is supposed to.

That is, the automatic steering parking assistance system recognizes the parking space through sensors or cameras mounted on the front, rear, and side of the vehicle, and actively controls the electronically controlled power steering system (EPS) to recognize the parking space. By automatically steering and moving the vehicle into the space, the driver can conveniently and easily park the vehicle with only brake and shift operations.

However, the conventional automatic steering parking technique may not respond because it does not accurately detect the front and / or rear collision prediction situation (alarm situation) that may occur during steering control along the calculated parking path. . In particular, during the steering control, if a collision prediction situation occurs for both the front and the rear, a safe parking may not be achieved through incorrect steering control.

In order to solve this problem, the recent automatic steering parking assistance system includes a function in which the automatic parking mode is released when the driver applies a predetermined torque (force) to the steering wheel when the driver wants to release the automatic parking mode. It is. That is, by detecting a predetermined torque applied to the steering wheel through a torque sensor mounted on the electric power steering system, the automatic parking mode is released.

At this time, even if the driver releases the automatic parking mode, the vehicle should not deviate greatly from the parking path in order to prevent an accident, so a reference value for a predetermined torque applied by the driver should be set.

However, there is a problem in that the reference value for releasing the automatic parking mode becomes ambiguous because various driving environments and driving conditions of the vehicle are taken into consideration, and as the steering torque applied by the driver increases, heterogeneity for steering control of the vehicle also increases, so the reference value is set. There is a difficult problem.

In order to solve the above problems, the present invention provides an automatic parking control device and a control method for releasing or executing the automatic parking mode using a capacitive sensor.

In addition, the present invention provides an automatic parking control device and a control method capable of easily releasing an automatic parking mode even in an emergency dangerous situation.

Automatic parking control apparatus according to an embodiment of the present invention for achieving the above object is, mounted to a steering wheel (steering wheel) sensing unit for detecting the contact between the user and the steering wheel, steering information of the vehicle, driving information And a determining unit configured to calculate steering torque of the vehicle and reaction torque caused by the road surface load of the vehicle based on the contact, and to determine whether to release or execute the automatic parking mode, and to release the automatic parking mode according to the determined result. It may include a generation unit for generating a signal or an execution signal, and a transceiver for receiving the steering information and the driving information, and transmits the release signal or the execution signal.

In addition, the automatic parking control method according to an embodiment of the present invention for achieving the above object, the sensing step of detecting the contact between the user and the steering wheel, the steering information of the vehicle, the driving information and the presence or absence of the contact A determination step of calculating a steering torque of the vehicle and a reaction torque by the road surface load of the vehicle, and determining whether to release or execute the automatic parking mode, and generating a release signal or an execution signal of the automatic parking mode according to the determined result And transmitting and receiving the steering information and the driving information and transmitting the release signal or the execution signal.

Other specific details of the invention are included in the detailed description and drawings.

As described above, according to the present invention, the automatic parking mode can be easily released or executed, thereby providing stability when the vehicle is parked.

In addition, there is an effect of reducing the heterogeneity that occurs when the driver controls the steering, and improves the convenience.

1 is a steering torque graph showing a release condition of a general automatic parking assist system.
2 is a block diagram of an automatic parking control apparatus according to an embodiment of the present invention.
FIG. 3 is a view briefly illustrating an example of a rack-pinion type electric steering apparatus interlocked with a sensing unit of an automatic parking control apparatus according to an exemplary embodiment of the present invention.
4 is a flowchart illustrating an automatic parking control method according to an embodiment of the present invention.
5 is a steering torque graph showing a release condition of the automatic parking control apparatus according to the embodiment of the present invention.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings. Advantages and features of the present invention and methods for achieving them will be apparent with reference to the embodiments described below in detail with the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below, but will be implemented in various forms, and only the present embodiments are intended to complete the disclosure of the present invention, and the general knowledge in the art to which the present invention pertains. It is provided to fully convey the scope of the invention to those skilled in the art, and the present invention is defined only by the scope of the claims. Like reference numerals refer to like elements throughout.

Although the first, second, etc. are used to describe various elements, components and / or sections, these elements, components and / or sections are of course not limited by these terms. These terms are only used to distinguish one element, component or section from another element, component or section. Therefore, the first device, the first component, or the first section mentioned below may be a second device, a second component, or a second section within the technical spirit of the present invention.

The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. In this specification, the singular also includes the plural unless specifically stated otherwise in the phrase. As used herein, “comprises” and / or “made of” refers to a component, step, operation, and / or element that includes one or more other components, steps, operations, and / or elements. It does not exclude existence or addition.

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

1 is a steering torque graph showing a release condition of a general automatic parking assist system.

Conventional automatic steering parking techniques may fail to respond by not accurately detecting the front and / or rear collision prediction situation (alarm situation) that may occur during steering control along the calculated parking path. In order to solve this problem, the recent automatic steering parking assistance system includes a function in which the automatic parking mode is released when the driver applies a predetermined torque (force) to the steering wheel when the driver wants to release the automatic parking mode. It is.

That is, by detecting a predetermined torque applied to the steering wheel, that is, the steering wheel through the torque sensor mounted on the electric power steering system, the automatic parking mode is released. At this time, even if the driver releases the automatic parking mode, the vehicle should not deviate greatly from the parking path in order to prevent an accident.

The automatic parking mode refers to a state in which a driver automatically grabs the road and surrounding vehicles using a camera and a radar, and then parks the road automatically by using a camera and a radar even when the driver does not hold a steering wheel, that is, a steering wheel. The vehicle is steered by a steering power supply device such as a motor. Therefore, when the automatic parking mode is released, it may be controlled to switch to the manual parking mode.

1 is a graph of a steering following angle with respect to a steering torque, wherein the steering torque is a torque output from the vehicle itself to steer the vehicle, and the steering following angle is a steering angle according to the actual steering state of the vehicle.

Referring to the graph of FIG. 1, when the automatic parking mode is executed in the automatic steering parking assistance system, it can be seen that the steering tracking angle is generally increased or decreased as the steering torque increases or decreases. .

Area B shown in the graph of FIG. 1 is a case in which the steering tracking angle is significantly increased in comparison with the torque value of the steering torque. Since the vehicle is in an abnormal driving state, the automatic parking mode should be released. Therefore, the conventional automatic steering parking assistance system releases the automatic parking mode when the steering torque is less than the second reference value.

For example, a reaction torque generated by a road load generated on a wheel due to a road surface of the vehicle is generated. When the steering torque reflecting the reaction torque is output below a second reference value, the reaction torque is compared with the reaction torque. When the steering torque is small, the steering control becomes unstable to release the automatic parking mode.

In addition, in the area A shown in the graph of FIG. 1, the steering tracking angle is significantly reduced in comparison with the torque value of the steering torque. Since the vehicle is in an abnormal steering control state, the automatic parking mode should be released. Therefore, the conventional automatic steering parking assistance system releases the automatic parking mode when the steering torque is equal to or greater than a first reference value.

That is, in the conventional automatic steering parking assistance system, the driver applies a predetermined torque (force) to the steering wheel in order for the driver to release the automatic parking mode. If the vehicle outputs more than the reference value, the vehicle may leave the parking path and an accident may occur, thereby releasing the automatic parking mode.

However, in setting the first reference value of the steering torque for the predetermined torque applied to the steering wheel by the driver, the reference value for other release conditions, such as the second reference value, must also be taken into account, so that the first reference value becomes ambiguous.

In addition, when the predetermined torque applied by the driver is increased, the driving force of the electric steering motor is reduced, and in this case, the operation feeling of the steering wheel felt by the driver becomes heavy and a heterogeneity for steering control of the vehicle increases. do. That is, as the steering torque applied by the driver increases, the heterogeneity of steering control of the vehicle also increases, which makes it difficult to set the first reference value.

2 is a block diagram of an automatic parking control apparatus 200 according to an embodiment of the present invention.

Referring to FIG. 2, the automatic parking assist system 2 (SPAS) may detect a driver, that is, an input unit 21 through which a user can select a parking mode, an ultrasonic sensor, a laser sensor, or a camera to detect and recognize a parking space. Sensor unit 22 including the device, the output unit 24 for notifying the driver of the parking or exit direction by video or audio, sensing the parking or exit direction and the steering space of the parking space and the wheel, the electric steering device (3) ) May include a control unit 23 for automatic steering parking support.

In this case, the input unit 21 of the automatic parking assist system 2 (SPAS) may include a button, a switch, a touch panel, etc. for navigation manipulation provided in the vehicle.

In addition, the output unit 24 may include a cluster or a head-up display, and all the display devices that are provided to display various information in the vehicle and can check the parking assistance information while the user watches the front. It may include.

And the automatic parking assistance system 2 may include an automatic parking control device 200 according to the present invention, the automatic parking control device 200 is mounted to a steering wheel (steering wheel) is in contact with the user and the steering wheel The sensing unit 210 detects the presence or absence of the vehicle, and calculates the steering torque of the vehicle and the reaction torque caused by the road load of the vehicle based on the steering information, the driving information, and the contact presence of the vehicle, and release or execute the automatic parking mode. The determination unit 220 for determining a state, the generation unit 230 for generating a release signal or the execution signal of the automatic parking mode according to the determined result and the steering information and the driving information received, the release signal or the execution It may include a transceiver 240 for transmitting a signal.

At this time, the electric steering device (3, EPS) for automatic steering is a smart wheel sensor for detecting the steering angle and the driving speed of the wheel, a steering angle sensor for detecting the steering angle of the steering wheel, the steering torque output to the electric steering motor It includes a torque sensor, etc., the steering information and the driving information can be received from the above-described sensors through the transceiver 240 of the automatic parking control device 200.

Specifically, the sensing unit 210 may include a plurality of capacitive sensing sensors disposed on the left and right handle portions of the steering wheel. That is, the sensing unit 210 may be configured by attaching a capacitive sensing sensor such as a touch sensor to the steering wheel that the user is holding by hand when driving, and the capacitive sensing sensor is the steering wheel. At least one may be installed in each area divided into left and right.

For example, the steering wheel may distinguish a left area in which the user is usually held by the left hand and a right area in which the user holds the right hand. In this case, the sensing unit 210 may be provided in a plurality of left and right areas of the steering wheel. A separate independent touch sensor may be configured to detect that the body of the user including the hand and the steering wheel are in contact with each other.

In this case, the touch sensor is a capacitive sensing sensor provided to output an electrical signal according to the contact or non-contact state of the user's hand, the signal for the presence or absence of the touch output from each touch sensor is determined by the determination unit ( 220).

The determination unit 220 may release the automatic parking mode when it is determined that the contact between the user and the steering wheel is detected based on the presence or absence of the contact received from the detection unit 210. If it is determined that the contact of the steering wheel is not detected, the user steering torque by the user manipulation may be sensed.

In addition, the determination unit 220 may determine whether the capacitance value detected by the capacitive sensing sensor is the threshold value or more. That is, when the capacitance value is greater than or equal to the threshold value, the user is determined to be in contact with the steering wheel. Therefore, the automatic parking mode may be released. When the capacitance value is less than the threshold value, the user may be in contact with the steering wheel. Since it is determined that there is no contact, the user steering torque can be detected.

In this case, when the contact between the user and the steering wheel is undetected, the user's hand is generally not in contact with the steering wheel. However, even if the user's hand is in contact with the steering wheel, an error occurs in the touch sensor. It may be the case that the user's hand is in contact with an area that is generated or out of the detection area in the steering wheel.

Therefore, when the contact between the user and the steering wheel is not detected, the determination unit 220 may calculate the steering torque and the reaction force torque based on the steering information and the driving information received through the transmission / reception unit 240. Can be.

In addition, the determination unit 220 may calculate the vehicle speed of the vehicle based on the driving information in real time, and release the automatic parking mode if the vehicle speed is greater than or equal to a threshold speed. For example, when the threshold speed is 6km / h, if the vehicle speed of the vehicle is 6km / h or more, the automatic parking mode may be released.

The automatic parking mode may be set even when the steering torque is inconsistent with a steering command signal output from a control unit of an electric power steering system (EPS) or when a failure of the EPS or the automatic parking control apparatus 200 is detected. You can turn it off.

Then, the determination unit 220 may determine to release the automatic parking mode when the steering torque by the steering operation of the user is greater than or equal to a first reference value, and the sum of the reaction force torque and the steering torque is less than a second reference value. In this case, it may be determined to release the automatic parking mode.

Herein, the steering torque may be steering torque manipulated by the user by applying a predetermined torque (force) to the steering wheel, and the reaction torque may be torque generated in the vehicle by a road load of the vehicle. Can be.

That is, if the sum of the reaction torque and the steering torque is less than the second reference value, the reaction torque by the load on the road surface is determined to be relatively large corresponding to the steering torque, thereby releasing the automatic parking mode.

The generation unit 230 may generate a signal for maintaining, releasing or rerunning the automatic parking mode according to the result determined by the determination unit 220. That is, the determination unit 220 may generate the release signal when it is determined that the automatic parking mode is released, and generate the execution signal when it is determined that the released automatic parking mode is executed.

In addition, the transmission / reception unit 240 transmits the release signal or the execution signal received from the generation unit 230 to the control unit 23 of the automatic parking assist system 2 (SPAS), thereby releasing or rerunning the automatic parking mode. You can.

In addition, the transceiver 240 is a smart wheel sensor for detecting the steering angle and the driving speed of the wheel of the electric steering device (3, EPS), the steering angle sensor for detecting the steering angle of the steering wheel and the steering torque output to the electric steering motor. The steering information and the driving information may be received from the detected torque sensor and transmitted to the determination unit 220.

At this time, the transceiver 240 is an integrated services digital network (ISDN), asymmetric digital subscriber line (ADSL), local area network (LAN), Ethernet, controller area network (CAN), TCP / IP-based communication network, optical, A wireless communication network including a mobile communication network such as a communication network, CDMA, WCDMA, etc., a local area network such as Zigbee, Bluetooth, or the like can be used.

As described above, the automatic parking control device 200 may provide stability when the vehicle is parked because the automatic parking mode is easily released or executed.

FIG. 3 is a view briefly showing an example of the rack-pinion type electric steering apparatus 3 interlocked with the sensing unit 210 of the automatic parking control apparatus 200 according to the embodiment of the present invention.

The electric steering apparatus (EPS) 3 of the vehicle detects the steering torque value of the driver through a torque sensor connected to the steering wheel and detects the torsion of the steering shaft, and provides steering assistance power by controlling the rotation of the electric motor. That is, the electric steering apparatus may compensate for the steering force of the driver's steering operation by generating a steering auxiliary current so as to be proportional to the steering torque according to the driver's steering wheel operation to rotate the electric motor, that is, the steering motor.

At this time, since steering assistance power is determined by an electronic control unit (ECU) of the electric steering apparatus in consideration of the traveling speed, the steering state, and the external force of the vehicle, the output of the electric motor is controlled according to the control signal of the ECU.

As shown in FIG. 3, the electric steering apparatus 3 is generally a rack-pinion type electric power assisted steering apparatus of an automobile. The steering system 300 and the steering system extend from the steering wheel 302 to both wheels 305. And an auxiliary power mechanism (306, 307) for providing steering assistance power to (300).

The steering wheel 302 is generally referred to herein as a steering wheel and the driver rotates to change the direction of the vehicle. At this time, the steering wheel 302 is connected to the steering shaft 302. When the driver rotates the steering wheel 302, the steering shaft 302 also rotates in the same direction. At this time, the torque sensor and the steering angle sensor detects the rotational force, the rotation angle and the rotation angle speed of the steering shaft 302 to detect the user's steering torque of the user, and transmits the torque value to the electronic control unit 307 (ECU).

Herein, the electronic control unit 307 (ECU) controls the output of the steering motor 306 based on not only the torque sensor and the steering angle sensor but also various sensor information provided in the vehicle.

At this time, the steering motor 306 is a device for compensating the steering operation of the driver to transmit the output of the steering motor 306, that is, the driving force to the wheel 305, so that the driver rotates the steering wheel of the wheel 305 Manipulate the direction.

Accordingly, in the rack-pinion type electric steering device 3, torque generated by the rotation of the steering wheel 302 is transmitted to the rack bar 303, and auxiliary power generated in the steering motor 306 is generated by the rack bar (according to the generated torque). 303). That is, the torque generated from the steering system 300 and the auxiliary power generated from the steering motor 306 are combined to allow the rack bar 303 to move the tie rod 304 and the wheel 305 in the axial direction.

In this case, the steering wheel 302 may include a plurality of capacitive sensing sensors 301 disposed on the left and right handle portions of the sensing unit 210. That is, the steering wheel 302 may distinguish the left area that the user usually takes with the left hand and the right area that is held with the right hand, and as shown, separate independent capacitance type in each of the left and right areas of the steering wheel 302. A plurality of detection sensors 301 may be installed to detect that the steering wheel 302 is in contact with the body of the user including a hand.

Therefore, when it is determined that the contact between the user and the steering wheel is sensed based on the contact between the user and the steering wheel 302, the automatic parking mode may be released, and the contact between the user and the steering wheel may be It can be judged as not detected.

Although R-EPS (Rack type EPS) is illustrated as an electric steering apparatus in FIG. 3, hydraulic EPS, C-EPS (Column type EPS), and DP-EPS (Dual Pinion type EPS) may be implemented.

4 is a flowchart illustrating an automatic parking control method according to an embodiment of the present invention.

In the automatic parking control method according to the present invention, a sensing step of detecting the contact between a user and a steering wheel, steering information of the vehicle, driving information, and reaction torque based on the vehicle's steering torque and the road surface load of the vehicle based on the contact presence A determination step of determining a release or execution of the automatic parking mode, a generation step of generating a release signal or an execution signal of the automatic parking mode according to the determined result, and receiving the steering information and the driving information, And a transmitting / receiving step of transmitting a release signal or the execution signal.

Referring to Figure 4, the automatic parking assistance system starts the execution of the automatic parking mode (S400).

Then, in the transmitting and receiving step, the various steering information and the driving information is received from the electric steering apparatus (S410). In this case, the steering information and the driving information may be received from a sensor including at least one of a smart wheel sensor, a steering angle sensor, and a torque sensor.

In the sensing step, an electrical signal for the presence or absence of contact between the user and the steering wheel is detected from a capacitive sensing sensor such as a touch sensor attached to the steering wheel (S420).

In this case, the presence or absence of the contact may be determined by determining whether the capacitance value detected by the capacitive sensor is greater than or equal to a threshold value.

That is, in the determining step, it is determined whether the capacitance value is greater than or equal to the threshold value (S430).

At this time, if the capacitance value is greater than or equal to the threshold value, that is, contact of the steering wheel and the user is detected, in the generating step, the release signal for releasing the automatic parking mode is generated, and in the transmitting and receiving step, the release is performed. The signal is transmitted to the control unit of the automatic parking assist system (S490).

On the other hand, if the capacitance value is less than the threshold value, that is, if the contact between the steering wheel and the user is not detected, the vehicle speed of the vehicle and the user steering in the determining step based on the received steering information and the driving information. At least one of the torque and the road surface load is measured (S440).

In this case, the steering torque may be steering torque manipulated by the user by applying a predetermined torque (force) to the steering wheel.

First, it is determined whether the vehicle speed of the vehicle is equal to or greater than the current critical speed (S450).

If the vehicle speed is greater than or equal to the threshold speed, the automatic parking mode is released. If the vehicle speed is less than the threshold speed, the current steering torque of the vehicle is calculated according to the steering torque and the reaction torque caused by the road surface load. (S460).

Then, it is determined whether the steering torque by the user steering operation is equal to or greater than a first reference value (S470).

At this time, if the steering torque is equal to or greater than the first reference value, in the generating step, the release signal for releasing the automatic parking mode is generated, and in the transmitting and receiving step, the release signal is transmitted to the controller of the automatic parking assist system. (S490).

On the other hand, if the steering torque is less than the first reference value, it is determined whether the sum of the reaction force torque and the steering torque is less than the second reference value (S480).

In this case, when the sum of the reaction torque and the steering torque is less than a second reference value, the release signal for releasing the automatic parking mode is generated, and in the transmitting / receiving step, the release signal is transmitted to the controller of the automatic parking assist system. (S490).

On the other hand, if the sum of the reaction force torque and the steering torque is equal to or greater than a second reference value, it is determined that the steering wheel is not in contact with the user, thereby maintaining execution of the automatic parking mode (S400).

As described above, it is possible to prevent the failure of the capacitive sensing sensor or to check whether there is contact outside the capacitive sensing sensor sensing area, thereby preventing the occurrence of an error of the automatic parking control apparatus 200 according to the present invention. You can do it.

5 is a steering torque graph showing a release condition of the automatic parking control apparatus according to the embodiment of the present invention.

5 is a graph of a steering following angle with respect to steering torque. As shown, in the case of executing the automatic parking mode in the automatic steering parking assistance system, there is generally a proportional relationship in which the steering following angle increases or decreases as the steering torque increases or decreases.

In this case, area A shown in the graph of FIG. 5 is the same as the meaning of area A described in FIG. 1, and area B shown in the graph is the same as the meaning of area B described in FIG. 1. That is, when the steering torque is greater than the first reference value or less than the second reference value, the automatic parking mode is released.

However, as shown in FIG. 1, it can be seen that the positions of the first reference value and the second reference value are changed by the automatic parking control apparatus and the control method according to the present invention.

That is, by applying the capacitive sensing sensor for confirming the contact between the user and the steering wheel to the release condition of the automatic parking mode, it can be seen that the setting range of the first reference value and the second reference value has become clear. .

In other words, the automatic parking control apparatus and control method according to the present invention is a case in which the vehicle deviates from the parking path due to a predetermined torque applied by the driver to the steering wheel only when the user cannot confirm whether the steering wheel is in contact with the steering wheel (the first 1 reference value) or when the steering torque is smaller than the reaction force torque and the steering control becomes unstable (the second reference value). Therefore, the setting range of the first and second reference values can be narrowed.

Therefore, the present invention narrows the setting range of the first and second reference values, thereby providing an effect of clarifying the first and second reference values.

As described above, according to the present invention, the automatic parking mode can be easily released or executed, thereby providing stability when the vehicle is parked, reducing the heterogeneity generated by the driver in controlling the steering, and improving convenience. .

In addition, the automatic parking control apparatus and control method according to the present invention can be applied to all automatic steering control methods of the automatic driving assistance system in which the computer device in the vehicle controls both the vehicle speed and steering.

In the above description, all elements constituting the embodiments of the present invention are described as being combined or operating in combination, but the present invention is not necessarily limited to the embodiments. In other words, within the scope of the present invention, all of the components may be selectively operated in combination with one or more.

In addition, the above description is merely illustrative of the technical idea of the present invention, and those skilled in the art to which the present invention pertains various modifications and variations without departing from the essential characteristics of the present invention. . The protection scope of the present invention should be interpreted by the following claims, and all technical ideas within the equivalent scope should be interpreted as being included in the scope of the present invention.

2: automatic parking assist system
21: input unit 22: sensor unit
23 control unit 24 output unit
200: automatic parking control device
210: detection unit 220: determination unit
230: generation unit 240: transceiver
3: electric steering device

Claims (12)

A sensing unit mounted on a steering wheel to sense whether a user contacts the steering wheel;
A determination unit configured to calculate steering torque of the vehicle and reaction force by the road load of the vehicle based on steering information of the vehicle, driving information, and the presence or absence of the vehicle, and to determine whether to release or execute the automatic parking mode;
A generator configured to generate a release signal or an execution signal of the automatic parking mode according to the determined result; And
And a transceiver configured to receive the steering information and the driving information and to transmit the release signal or the execution signal.
The determination unit,
When it is determined that the contact between the user and the steering wheel is detected based on the presence or absence of the contact, the automatic parking mode is canceled, and when it is determined that the contact between the user and the steering wheel is not detected, steering of the user is performed. Detect the steering torque by
And canceling the automatic parking mode when the sum of the reaction force torque and the steering torque is less than a second reference value. The method of claim 1,
The detection unit,
Automatic parking control device including a plurality of capacitive detection sensor disposed on the left and right handle portion of the steering wheel. The method of claim 2,
The determination unit,
Automatic parking control device for determining whether the contact is determined whether the capacitance value detected by the capacitive sensing sensor is more than a threshold value. The method of claim 1,
The determination unit,
An automatic parking control device for calculating the vehicle speed of the vehicle based on the driving information, and releasing the automatic parking mode if the vehicle speed is greater than or equal to a threshold speed. delete The method of claim 1,
The determination unit,
And the automatic parking mode is released when the steering torque by the steering operation is equal to or greater than a first reference value. delete Detecting whether the user and the steering wheel contact;
A determination step of calculating steering torque of the vehicle and reaction force by the road surface load of the vehicle based on steering information of the vehicle, driving information, and the presence or absence of the vehicle, and determining release or execution of the automatic parking mode;
A generation step of generating a release signal or an execution signal of the automatic parking mode according to the determined result; And
And transmitting and receiving the steering information and the driving information, and transmitting the release signal or the execution signal.
The determining step,
When it is determined that the contact between the user and the steering wheel is detected based on the presence or absence of the contact, the automatic parking mode is canceled, and when it is determined that the contact between the user and the steering wheel is not detected, steering of the user is performed. Detects user steering torque by
And canceling the automatic parking mode if the sum of the reaction force torque and the steering torque is less than a second reference value. The method of claim 8,
The determining step,
Calculating a vehicle speed of the vehicle based on the driving information, and releasing the automatic parking mode if the vehicle speed is greater than or equal to a threshold speed. delete The method of claim 8,
The determining step,
And the automatic parking mode is released when the steering torque by the steering operation is equal to or greater than a first reference value.
delete

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