KR102184446B1 - Apparatus and method for generating parking path - Google Patents

Abstract

A parking route generation apparatus and method are proposed in which a parking route from a parking start position to a parking space is divided into two stages, and the parking route is generated by inverting and synthesizing it. The presented parking path generation device includes a parking space detection unit that detects a parking space from an image of a vehicle's surroundings, a first path generation unit that generates a first path that is a path from a parking space to an intermediate position detected by the parking space detection unit, and at an intermediate position. In the second path generation unit generating a second path, which is a path to the starting position, but generating a second path including one or more guide spaces, a path inversion processing unit for inverting the first path and the second path, and a path inversion processing unit. And a parking path generation unit for generating a parking path by merging the inverted second path with the first path reversed by the path reversal processing unit.

Description

Parking route generation device and method {APPARATUS AND METHOD FOR GENERATING PARKING PATH}

The present invention relates to a parking route generating apparatus and method, and more particularly, to a parking route generating apparatus and method for generating a parking route for parking a vehicle in a parking space.

In recent years, various technologies for assisting the driver's driving are applied to vehicles. As an example, there may be a parking assist device that assists a driver who is inexperienced in parking to park. As the driver manipulates the steering wheel, the parking assist device assists in parking by displaying a guide line corresponding to the driving direction of the vehicle on the screen. In this case, the conventional parking assist device displays a guide line corresponding to the traveling direction of the vehicle on a vehicle bird's eye view image and a real-time image.

However, since the conventional parking assist device generates and displays guide lines only in the direction manipulated by the driver based on the steering wheel and vehicle specifications, there is a problem that is not very helpful to the driver who is inexperienced in parking.

Korean Patent Publication No. 2015-0116116 (Name: Apparatus and method for generating images around vehicles)

The present invention is proposed in order to solve the above-described conventional problem, and a parking route generating apparatus that generates a parking route from a parking start position to a parking space by dividing it into two steps, and inverting and synthesizing it to generate a parking route; and It aims to provide a method.

In order to achieve the above object, the apparatus for generating a parking path according to an embodiment of the present invention includes a parking space detection unit that detects a parking space from an image around a vehicle, and a first path from a parking space to an intermediate position detected by the parking space detection unit. A first route generator for generating a route, a second route generator for generating a second route that is a route from an intermediate location to a starting location, but generating a second route including at least one guide space, a first route, and a second route 2 A path reversal processing unit that reverses the path and a parking path generation unit that generates a parking path using the first path and the second path reversed by the path reversal processing unit.

An apparatus for generating a parking path according to an embodiment of the present invention includes an unloading position detection unit that detects one of the surfaces constituting a parking space detected by the parking space detection unit as an unloading surface, and obstacles to surrounding images based on the unloading surface of the parking space. It may further include an obstacle setting unit for setting. In this case, the intermediate position may be a position that does not get caught in an obstacle even if the vehicle moves forward by bending the steering wheel to the maximum after leaving the parking space.

The first path generator may set one or more guide spaces located on the first path, and the second path generator may set one or more guide spaces located on the second path.

In order to achieve the above object, a method of generating a parking path according to an embodiment of the present invention includes the steps of detecting a parking space from a surrounding image of a vehicle, and a first path from the parking space detected in the step of detecting the parking space to an intermediate position. The first inverted in the steps of generating, generating a second path from the intermediate position to the starting position, inverting the first path and the second path, and inverting the second path inverted in the inverting step. And generating a parking route by merging the routes.

The method of generating a parking path according to an embodiment of the present invention includes the steps of detecting one of the surfaces constituting the parking space as an exit surface, and setting the remaining surfaces of the surfaces constituting the parking space excluding the exit surface as an obstacle. It may contain more.

In the method of generating a parking path according to an embodiment of the present invention, when a parallel parking space is detected in the step of detecting a parking space, a set value including a reverse steering angle and a forward steering angle is set based on the exit surface of the parallel parking space. It may further include a step. At this time, in the step of setting the set value, if the exit surface is located on the left side of the vehicle, the reverse steering angle is set to a positive number, the forward steering angle is set to a negative number, and when the exit surface is located on the right side of the vehicle, the reverse steering angle is negative. It can be set to and the forward steering angle can be set to a positive number.

The step of creating the first path is the step of updating the vehicle position by reversing the vehicle while setting the gear to the reverse gear and setting the steering wheel to the reverse steering angle.If an obstacle interference occurs at the rear of the vehicle, the vehicle is reversed. Setting the updated vehicle position as a guide space in the step of updating the vehicle position by setting the gear to the forward gear, and updating the vehicle position by moving the vehicle forward with the steering wheel set to the forward steering angle, In the step of updating the vehicle position by moving the vehicle forward when obstacle interference occurs in the front of the vehicle, setting the updated vehicle position as a guide space and when there is no obstacle interference in the front of the vehicle, and when the vehicle leaves the parallel parking space, the vehicle It may include the step of setting the position as a guide space.

The step of creating the second route is the step of setting the vehicle position as a guide space if the vehicle can rotate from the intermediate position and then go straight to the starting position, and if the vehicle can go straight and rotate from the intermediate position and move to the starting position The step of setting the vehicle position as a guide space after going straight.If the vehicle cannot be moved to the starting position by turning straight after turning from the middle position or turning after going straight, set the gear to the forward gear, and set the steering wheel to the forward steering angle. Advancing to update the vehicle position; And setting the vehicle position as a guide space if the turning radius at the vehicle position is the same as the turning radius at the intermediate position.

Meanwhile, in the method of generating a parking path according to an embodiment of the present invention, when detecting a right-angled parking space in the step of detecting the parking space, the first steering angle, the reference steering angle, the set angle, and the back It may further include the step of setting a set value including the steering angle. At this time, in the step of setting the set value, if the exit surface is located on the left side of the vehicle, the first steering angle and the reference steering angle are set to negative values, the setting angle and the back steering angle are set to positive values, and the exit surface is the right side of the vehicle. If located at, the first steering angle and the reference steering angle may be set to positive numbers, and the set angle and back steering angle may be set to negative numbers.

The step of generating the first path is the step of updating the vehicle position by setting the gear to the forward gear (D) and moving the vehicle straight while the steering angle is fixed to 0, and when an obstacle interference occurs in front of the vehicle, the vehicle position is adjusted. It may include the step of setting the guide space.

The step of generating the second path includes setting a first temporary steering angle based on the reference steering angle and the set angle, setting the gear to the forward gear, and setting the steering wheel to the first temporary steering angle. The step of updating the vehicle position by moving forward, setting the vehicle position as a guide space if the vehicle position is a position that can be moved to the starting position by going straight ahead, and changing the gear to a reverse gear if the vehicle position is a position that cannot move to the starting position by going straight Setting, and setting the steering wheel to the back steering angle, updating the vehicle position by reversing the vehicle, setting a second temporary steering angle based on the reference steering angle and the set angle, and setting the gear to the forward gear And, including the step of updating the vehicle position by moving the vehicle forward while the steering wheel is set to a second temporary steering angle, and setting the vehicle position as a guide space if the vehicle position is a position that can be moved to the starting position by going straight ahead. can do.

According to the present invention, the parking route generation apparatus and method divides the parking route from the parking start position to the parking space in two stages, and generates a parking route by reversing and combining the parking route, thereby generating the entire parking route from the parking start position to the parking space. By providing a parking path, there is an effect that even a driver who is inexperienced in parking can park easily.

1 and 2 are views for explaining a parking route generating apparatus according to an embodiment of the present invention.
3 is a block diagram illustrating a configuration of an apparatus for generating a parking route according to an embodiment of the present invention.
4 is a flowchart illustrating a method of generating a parking route according to the first embodiment of the present invention.
5 and 6 are diagrams for explaining a setting value setting step of FIG. 4.
7 is a diagram for explaining an obstacle setting step of FIG. 4.
8 to 10 are diagrams for explaining a first path generation step of FIG. 4.
11 to 14 are views for explaining a second path generation step of FIG. 4.
15 is a flowchart illustrating a method of generating a parking route according to a second embodiment of the present invention.
16 and 17 are diagrams for explaining a setting value setting step of FIG. 15;
18 and 19 are diagrams for explaining a first path generation step of FIG. 15.
20 to 23 are diagrams for explaining a second path generation step of FIG. 15.

Hereinafter, in order to describe in detail enough that a person having ordinary knowledge in the technical field of the present invention can easily implement the technical idea of the present invention, a most preferred embodiment of the present invention will be described with reference to the accompanying drawings. . First of all, in adding reference numerals to elements of each drawing, it should be noted that the same elements have the same numerals as possible even if they are indicated on different drawings. In addition, in describing the present invention, if it is determined that a detailed description of a related known configuration or function may obscure the subject matter of the present invention, a detailed description thereof will be omitted.

Hereinafter, an apparatus for generating a parking route according to an embodiment of the present invention will be described with reference to the accompanying drawings. 1 and 2 are views for explaining an apparatus for generating a parking route according to an embodiment of the present invention, and FIG. 3 is a block diagram for explaining a configuration of an apparatus for generating a parking route according to an embodiment of the present invention.

1 and 2, a parking path generating apparatus 100 according to an embodiment of the present invention provides a parking path of the vehicle 10 to a driver when parking in the rear. The parking path generating device 100 provides a parking path for the parallel parking space 22 and the vertical parking space 24 to the driver.

In this case, the parking path generating apparatus 100 provides by calculating the parking path from the parking space 20 to the start position SP in reverse. That is, the parking route generating apparatus 100 divides the parking route from the start position SP to the parking space 20 into two steps, and generates a parking route by inverting and synthesizing the parking route. Here, the criterion for dividing the parking path is a position that does not get caught by the obstacle 30 even if the vehicle 10 leaves the parking space 20 and advances by bending the steering wheel 12 to the maximum (that is, the intermediate position MP).

The parking route generating apparatus 100 generates a first route moving from the parking space 20 to the intermediate position MP. The runner assist device generates a second path moving from the intermediate position MP to the start position SP. Since the first route and the second route are opposite routes to the actual parking route, the parking route generating apparatus 100 generates a parking route by inverting the first route and the second route and combining them. In this case, the parking route generating apparatus 100 generates a first route and a second route each including one or more guide spaces GS. The parking route generating apparatus 100 may generate a parking route by synthesizing the first route with the second route and then inverting it.

To this end, as shown in FIG. 3, the parking path generation apparatus 100 includes a parking space detection unit 110, a vehicle exit location detection unit 120, an obstacle setting unit 130, a first path generation unit 140, and 2 It includes a path generation unit 150, a path reversal processing unit 160, and a parking path generation unit 170.

The parking space detection unit 110 detects the parking space 20 from the surrounding image of the vehicle 10. In this case, the surrounding image may be a camera image captured by a camera installed in the front or rear of the vehicle 10. The surrounding image may be a bird's eye view image generated using a camera image. The surrounding image may be an image created by the AVM (Around View Monitoring) system. Here, the method of acquiring the surrounding image is not limited to the above-described method.

The parking space detection unit 110 detects the parallel parking space 22 or the right angle parking space 20 from the surrounding images. In this case, the parking space detection unit 110 detects the parking space 20 by recognizing the parking line from the surrounding image through image processing. The parking space detection unit 110 may detect the parking space 20 from surrounding images based on the driver's input.

The exit position detection unit 120 detects the exit surface ES from the parking space 20 detected by the parking space detection unit 110. The unloading position detection unit 120 detects one of the four surfaces (sides) constituting the parking space 20 as the unloading surface ES. Here, the vehicle unloading position detector 120 may detect the unloading surface ES based on the driver's input.

The obstacle setting unit 130 sets the obstacle 30 in the surrounding image based on the exit surface ES of the parallel parking space 22. The obstacle setting unit 130 sets the obstacle 30 on the other surface of the parking space 20 detected by the parking space detection unit 110 except for the exit surface ES detected by the exit position detection unit 120.

The obstacle setting unit 130 sets the obstacle 30 having a predetermined area starting with the remaining three surfaces excluding the exit surface ES among the four surfaces constituting the parking space 20. In this case, the obstacle setting unit 130 sets the obstacles 30 on three adjacent surfaces of the parking space 20.

The first route generator 140 generates a first route that is a route from the parking space 20 to the intermediate location MP. Here, the intermediate position MP is a position that does not get caught by the obstacle 30 even if the vehicle 10 leaves the parking space 20 and advances by bending the steering wheel 12 to the maximum.

The first path generator 140 generates a first path including one or more guide areas. In this case, as an example, the first route generating unit 140 generates a first route including a guide area corresponding to the intermediate location MP and the parking space 20, respectively. The first route generating unit 140 may generate a first route further including a guide area corresponding to a location between the parking space 20 and the intermediate location MP.

The second path generation unit 150 generates a second path that is a path from the intermediate position MP to the start position SP. Here, the start position SP is a position at which the driver stops to park the vehicle 10.

The second path generation unit 150 generates a second path including one or more guide areas. In this case, as an example, the second path generation unit 150 generates a second path including a guide region corresponding to the intermediate position MP and the starting space, respectively. The second path generation unit 150 may generate a second path further including a guide area corresponding to a position between the intermediate position MP and the start position SP.

The path inversion processing unit 160 inverts the first path and the second path. The route reversal processing unit 160 retrieves the parking route in reverse from the parking space 20, which is a location when parking is completed, when the parking route is generated, so that the first route and the second route generating unit 150 generated by the first route generating unit 140 Invert the generated second path.

The parking route generator 170 creates a parking route by merging the first route and the second route reversed by the route reversal processing unit 160. That is, the parking path generator 170 generates a parking path by merging the inverted first path with the inverted second path. Here, the parking route generator 170 may generate a reverse parking route by merging the second route with the first route, and the route reversal processing unit 160 may generate a parking route by inverting the reverse parking route.

(How to create a parking route-parallel parking)

Hereinafter, a method of generating a parking route according to a first embodiment of the present invention will be described with reference to the accompanying drawings. 4 is a flowchart illustrating a method of generating a parking route according to the first embodiment of the present invention. 5 and 6 are diagrams for explaining the step of setting a set value of FIG. 4, and FIG. 7 is a view for explaining the step of setting the obstacle 30 of FIG. 4. 8 to 10 are diagrams for explaining a first path generation step of FIG. 4, and FIGS. 11 to 14 are diagrams for describing a second path generation step of FIG. 4.

The parking path generating apparatus 100 detects the parallel parking space 22 from the surrounding image (S110). In this case, the surrounding image may be a camera image captured by a camera installed in the vehicle 10. The surrounding image may be a bird's eye view image generated using a camera image. The parking route generating apparatus 100 sets one of the four sides constituting the parallel parking space 22 as the exit surface ES. Here, the exit surface ES may be set by the driver.

The parking route generating apparatus 100 sets a set value for the parallel parking guide (S120). The parking route generating apparatus 100 sets a set value including a reverse steering angle and a forward steering angle based on the exit surface ES. Here, the reverse steering angle is the angle of steering when the vehicle 10 moves backward, and the forward steering angle is the angle of steering when the vehicle 10 moves forward.

Here, the reverse steering angle and the forward steering angle are set to a positive number when rotating to the right from the initial position of the steering wheel 12, and to a negative number when rotating to the left from the initial position.

As an example, referring to FIG. 5, when the vehicle exit surface ES is located on the left side of the vehicle 10 in the parallel parking space 22, the driver rotates the steering wheel 12 to the right and moves backward, and the steering is left By rotating and going straight, it escapes from the parallel parking space 22. Accordingly, the parking path generating apparatus 100 sets the reverse steering angle to approximately 500° when the exit surface ES of the parallel parking space 22 is the left side of the vehicle 10, and sets the forward steering angle to approximately -500°. Set to

As another example, referring to FIG. 6, when the vehicle exit surface ES is located on the right side of the vehicle 10 in the parallel parking space 22, the driver rotates the steering wheel 12 to the left to move backward and steer. It escapes from the parallel parking space 22 by rotating to the right and going straight. Accordingly, the parking path generating apparatus 100 sets the reverse steering angle to approximately -500° and the forward steering angle to approximately 500° when the exit surface ES of the parallel parking space 22 is the right side of the vehicle 10 Set to

The parking path generating apparatus 100 sets the obstacle 30 in the surrounding image based on the exit surface ES of the parallel parking space 22 (S130). The parking path generating apparatus 100 sets a predetermined area as the obstacle 30 starting with the remaining three surfaces excluding the exit surface ES among the four surfaces constituting the parallel parking space 22. In this case, the parking path generating apparatus 100 sets the obstacles 30 on three adjacent surfaces of the parallel parking space 22.

As an example, referring to FIG. 7, when the surface located on the left side of the vehicle 10 among the four surfaces of the parallel parking space 22 is the exit surface ES, the parking path generating apparatus 100 is used for the vehicle 10 An obstacle 30 having a predetermined area is set based on the faces located in the front, rear and right sides of.

The parking route generating apparatus 100 generates a parking route by dividing it into two stages. The parking route generating apparatus 100 divides and generates a parking route into a first route and a second route based on the intermediate location MP. Here, the intermediate position MP means a position at which the vehicle 10 exits the parallel parking space 22. That is, the intermediate position MP refers to a position where the vehicle 10 is not caught by the obstacle 30 even if the vehicle 10 moves forward with the steering wheel 12 maximally bent out of the parallel parking space 22.

First, the parking route generating apparatus 100 generates a first route from the parallel parking space 22 to the intermediate position MP (S140). The step of generating the first path will be described in detail below with reference to FIG. 8.

The parking route generating apparatus 100 sets the gear 14 to the reverse gear R, and updates the vehicle position by reversing the vehicle 10 according to the reverse steering angle (S141). The parking path generating apparatus 100 updates the vehicle position by reversing the vehicle 10 until interference with the obstacle 30 occurs at the rear of the vehicle 10.

If the obstacle 30 interference occurs (S142; Yes), the parking path generating apparatus 100 sets the vehicle location where the obstacle 30 interference occurs as a guide space [n++] (GS[n++]) (S143). When the parking path generating apparatus 100 rotates according to the reverse steering angle in the parking state, it moves backward and sets a position where the interference of the obstacle 30 occurs as a guide space [n++] (GS[n++]).

The parking path generating apparatus 100 sets the gear 14 to the forward gear D, and updates the vehicle position by moving the vehicle 10 forward according to the forward steering angle (S144).

When the obstacle 30 interference occurs in front of the vehicle 10 (S145°; Yes), the parking path generating device 100 determines the location of the vehicle where the obstacle 30 interference occurs in a guide space [n++] (GS[n++] ) Is set (S146). The parking path generating device 100 advances when rotating according to the forward steering angle at the position of the guide space GS[0] and sets the position where the obstacle 30 interference occurs as the guide space [n++] (GS[n++]). do. Thereafter, the parking route generating apparatus 100 repeatedly performs steps S141 to S144 described above.

On the other hand, if the vehicle location updated in step S144 does not interfere with the obstacle 30 in front of the vehicle 10 and deviates from the parallel parking space 22 (S147; YES), the parking path generating apparatus 100 The position of the vehicle leaving the parallel parking space 22 is set as the guide space [n++] (GS[n++]) (S148).

The parking route generating apparatus 100 sets one or more guide spaces GS[n] through steps S141 to 148 described above, and generates a first route including them.

As an example, referring to FIG. 9, the parking path generating apparatus 100 sets the parallel parking space 22 by the vehicle 10 as the guide space GS[0]. The parking route generating apparatus 100 sets the gear 14 as a reverse gear while the vehicle 10 is located in the parallel parking space 22, and sets the steering wheel 12 to a reverse steering angle (for example, approximately 500 °).

The parking path generating apparatus 100 updates the vehicle position by reversing the vehicle 10 until interference with the obstacle 30 occurs at the rear of the vehicle 10. The parking path generating apparatus 100 sets the position of the vehicle where the interference of the obstacle 30 occurs as the guide space GS [1].

The parking route generating apparatus 100 sets the gear 14 to the forward gear D and the steering wheel 12 to the forward steering angle (for example, approximately -500°).

The parking path generating apparatus 100 updates the vehicle position by moving the vehicle 10 forward until interference with the obstacle 30 occurs in front of the vehicle 10. The parking path generating apparatus 100 sets the position of the vehicle in which the interference of the obstacle 30 occurs as the guide space GS [2].

At this time, since the vehicle 10 has not separated from the parallel parking space 22, the parking path generating apparatus 100 again sets the gear 14 to the reverse gear, and sets the steering wheel 12 to the reverse steering angle ( For example, about 500°).

The parking path generating apparatus 100 updates the vehicle position by reversing the vehicle 10 until interference with the obstacle 30 occurs at the rear of the vehicle 10. The parking path generating apparatus 100 sets the position of the vehicle where the interference of the obstacle 30 occurs as the guide space GS[3].

The parking route generating apparatus 100 sets the gear 14 to the forward gear D and the steering wheel 12 to the forward steering angle (for example, approximately -500°). At this time, since the obstacle 30 in front of the vehicle 10 is separated from the parallel parking space 22 without interference, the parking path generating device 100 determines the position of the vehicle deviating from the parallel parking space 22 in the guide space. Set to (GS)[4].

Through this, the parking route generating apparatus 100 generates a first route including the guide space GS[0] to the guide space GS[4].

As another example, referring to FIG. 10, the parking path generating apparatus 100 sets the parallel parking space 22 by the vehicle 10 as the guide space GS[0]. The parking route generating apparatus 100 sets the gear 14 as a reverse gear while the vehicle 10 is located in the parallel parking space 22, and sets the steering wheel 12 to a reverse steering angle (for example, approximately 500 °).

The parking path generating apparatus 100 updates the vehicle position by reversing the vehicle 10 until interference with the obstacle 30 occurs at the rear of the vehicle 10. The parking path generating apparatus 100 sets the position of the vehicle where the interference of the obstacle 30 occurs as the guide space GS [1].

The parking route generating apparatus 100 sets the gear 14 to the forward gear D and the steering wheel 12 to the forward steering angle (for example, approximately -500°). At this time, since the obstacle 30 in front of the vehicle 10 is separated from the parallel parking space 22 without interference, the parking path generating device 100 determines the position of the vehicle deviating from the parallel parking space 22 in the guide space. Set to (GS)[2].

Through this, the parking route generating apparatus 100 generates a first route including a guide space GS[0] to a guide space GS[2].

The parking route generating apparatus 100 generates a second route from the intermediate position MP to the start position SP (S150). Here, the start position SP refers to a position in which the vehicle 10 is waiting for parking. A second path generation step will be described with reference to FIG. 12 as follows.

The parking path generating apparatus 100 determines whether the vehicle 10 can move from the intermediate position MP to the start position SP through straight after rotation. That is, referring to FIG. 12, the apparatus 100 for generating a parking route generates a first straight line connecting the virtual vehicle position CP and the start position SP. The parking route generating apparatus 100 generates a second straight line that crosses the first straight line while passing through the intermediate position MP. In this case, the parking route generating apparatus 100 generates a second straight line in which the distance between the virtual vehicle location CP and the first intersection C1 is the same as the distance between the intermediate location MP and the first intersection C1. Here, the first intersection point C1 means a point at which the first straight line and the second straight line intersect.

The parking path generating apparatus 100 generates a third straight line orthogonal to the first straight line at the virtual vehicle position CP, and generates a fourth straight line orthogonal to the second straight line at the weighted intermediate position MP. The parking route generating apparatus 100 detects the second intersection point C2 where the third straight line and the fourth straight line intersect, and converts the distance between the second intersection point C2 and the intermediate position MP into a turning radius R. Calculate. Here, the parking route generating apparatus 100 may calculate the distance between the second intersection C2 and the start position SP as the turning radius R.

When the calculated turning radius R is greater than or equal to the minimum turning radius R of the vehicle 10, the parking route generating apparatus 100 rotates at the intermediate position MP and then proceeds straight through the starting position SP. I believe it can be moved to. Here, the minimum turning radius R means the turning radius R of the vehicle 10 when the steering wheel 12 is ±540°.

If it is possible to move to the start position SP through straight forward after rotation (S151; Yes), the parking route generating apparatus 100 sets the vehicle position after rotation as a guide space [n++] (GS[n++]) (S152). .

If the vehicle 10 is unable to move from the intermediate position MP to the starting position SP by going straight after rotation, the parking route generating apparatus 100 determines whether it can move to the starting position SP through rotating after going straight. .

That is, referring to FIG. 13, the apparatus for generating a parking path 100 generates a first straight line passing through a virtual vehicle location CP that can move straight from the intermediate location MP. The parking route generating apparatus 100 generates a second straight line that crosses the first straight line while passing through the start position SP. At this time, the parking route generating apparatus 100 generates a second straight line in which the distance between the virtual vehicle location CP and the first intersection C1 and the distance between the start location SP and the first intersection C1 are the same. . Here, the first intersection point C1 means a point at which the first straight line and the second straight line intersect.

The parking path generating apparatus 100 generates a third straight line orthogonal to the first straight line at the virtual vehicle position CP, and generates a fourth straight line orthogonal to the second straight line at the start position SP. The parking route generating apparatus 100 detects a second intersection point C2 where the third and fourth straight lines intersect, and determines the distance between the second intersection point C2 and the virtual vehicle location CP as a turning radius R It is calculated as Here, the parking route generating apparatus 100 may calculate the distance between the second intersection C2 and the start position SP as the turning radius R.

When the calculated turning radius R is greater than or equal to the minimum turning radius R of the vehicle 10, the parking route generating apparatus 100 rotates at the intermediate position MP and then proceeds straight through the starting position SP. I believe it can be moved to. Here, the minimum turning radius R means the turning radius R of the vehicle 10 when the steering wheel 12 is ±540°.

If it is possible to move to the start position SP through rotation after going straight (S153; Yes), the parking route generating apparatus 100 sets the vehicle position after going straight to the guide space [n++] (GS[n++]) (S154). .

If the vehicle 10 cannot move from the intermediate position MP to the starting position SP through rotation after rotating straight and after going straight, the parking route generating device 100 sets the gear 14 to the forward gear D. Then, after setting the steering wheel 12 to the forward steering angle, the vehicle 10 is moved forward to update the vehicle position (S155).

At this time, the parking route generating apparatus 100 advances the vehicle 10 until the turning radius R1 of the vehicle position becomes the same as the turning radius R2 of the intermediate position MP. Here, the meaning that the turning radius R and the turning radius R are the same includes that the difference between the two turning radii R1 and R2 is within an error range.

If the turning radius R1 and the turning radius R2 are the same (S156; YES), the vehicle position after moving forward is set to the guide space [n++] (GS[n++]).

That is, referring to FIG. 14, the apparatus 100 for generating a parking path rotates forward at an intermediate position MP to generate a movable virtual vehicle position CP. The parking route generating apparatus 100 generates a first straight line passing through the virtual vehicle position CP and a second straight line crossing the first straight line while passing through the start position SP.

The parking path generating apparatus 100 generates a third straight line orthogonal to the first straight line at the virtual vehicle location CP. The parking route generating apparatus 100 generates a fourth straight line orthogonal to the second straight line at the start position SP.

The parking route generating apparatus 100 detects an intersection point C where the third straight line and the fourth straight line intersect. The parking route generating apparatus 100 is a virtual vehicle location CP having the same distance R1 from the intersection C to the virtual vehicle location CP and the distance R2 from the intersection C to the starting location SP. Is detected. At this time, the parking route generating apparatus 100 detects the same virtual vehicle location CP within an error range of R1 and R2 and sets it as a guide space [n++] (GS[n++]).

Meanwhile, after steps S152, S154, and S157, the parking route generating apparatus 100 sets the start position (SP; that is, the actual vehicle position) as the guide space [n++] (GS[n++]) (S158).

The parking route generating apparatus 100 reverses the first route and the second route (S160). That is, the parking route generating apparatus 100 reverses the first route and the second route because the parking route generating apparatus 100 inverts the parallel parking space 22, which is a position when parking is completed.

For example, when the first path is created in the order of guide space (GS)[0], guide space (GS)[1], and guide space (GS)[2], the guide space (GS) [0] is parallel The parking space 22, and the guide space GS [2] is an intermediate position MP. Accordingly, the parking route generating apparatus 100 reverses the first route in the order of the guide space GS[2], the guide space GS[1], and the guide space GS[0].

For example, when the second path is generated in the order of guide space (GS)[3], guide space (GS)[4], and guide space (GS)[5], the guide space (GS) [3] is intermediate It is a position adjacent to the position MP, and the guide space GS[5] is the start position SP. Accordingly, the parking route generating apparatus 100 reverses the second route in the order of the guide space GS[5], the guide space GS[4], and the guide space GS[3].

The parking route generating apparatus 100 generates a parking route by merging the inverted first route and the second route (S170). That is, the parking route generating apparatus 100 generates a parking route by merging the first route with the second route.

For example, the inverted first path is in the order of the guide space GS[2], the guide space GS[1], and the guide space GS[0], and the reversed second path is the guide space GS [5], the guide space (GS) [4] and the guide space (GS) [3] in this order, the parking route generating apparatus 100 merges the first route into the second route, and thus the guide space GS [ 5], guide space (GS)[4], guide space (GS)[3], guide space (GS)[2], guide space (GS)[1] and guide space (GS)[0] Create a parking route.

(How to create a parking route-right angle parking)

Hereinafter, a method of generating a parking route according to a second embodiment of the present invention will be described with reference to the accompanying drawings. 15 is a flowchart illustrating a method of generating a parking route according to a second embodiment of the present invention. 16 and 17 are diagrams for explaining the setting value setting step of FIG. 15, FIGS. 18 and 19 are diagrams for explaining the first path generation step of FIG. 15, and FIGS. 20 to 23 are A diagram for explaining the step of generating a second path.

The parking path generating apparatus 100 detects a right-angled parking space 20 from the surrounding image (S210). In this case, the surrounding image may be a camera image captured by a camera installed in the vehicle 10. The surrounding image may be a bird's eye view image generated using a camera image. The parking path generating apparatus 100 sets one of the four sides constituting the right-angled parking space 20 as the exit surface ES. Here, the exit surface ES may be set by the driver.

The parking route generating apparatus 100 sets a set value for the right angle parking guide (S220). The parking path generating device 100 is set including a first steering angle, a reference steering angle, a set angle, and a back steering angle based on the exit surface ES of the right-angled parking space 20 and the current position of the vehicle 10 Set the value.

As an example, referring to FIG. 16, when the exit surface ES of the right-angled parking space 20 is located on the rear left side of the vehicle 10, the first steering angle and the reference steering angle are set to about -540°, The setting angle is set to approximately 45°, and the back steering angle is set to approximately 540°.

As another example, referring to FIG. 17, when the exit surface ES of the right-angled parking space 20 is located on the rear right side of the vehicle 10, the first steering angle and the reference steering angle are set to about 540°, The setting angle is set to approximately -45°, and the back steering angle is set to approximately -540°.

The parking path generating apparatus 100 sets the obstacle 30 in the surrounding image based on the exit surface ES of the right-angled parking space 20 (S230). The parking path generating apparatus 100 sets a predetermined area as the obstacle 30 starting with the remaining three surfaces excluding the exit surface ES among the four surfaces constituting the right-angled parking space 20. In this case, the parking path generating apparatus 100 sets the obstacles 30 on three adjacent surfaces of the parallel parking space 22.

The parking route generating apparatus 100 generates a parking route by dividing it into two stages. The parking route generating apparatus 100 divides and generates a parking route into a first route and a second route based on the intermediate location MP. Here, the intermediate position MP means a position at which the vehicle 10 exits the parallel parking space 22. That is, the intermediate position MP refers to a position where the vehicle 10 is not caught by the obstacle 30 even if the vehicle 10 moves forward with the steering wheel 12 maximally bent out of the parallel parking space 22.

First, the parking route generating apparatus 100 generates a first route from the parallel parking space 22 to the intermediate position MP (S240). The step of generating the first route will be described in detail with reference to FIG. 18 as follows.

The parking path generating apparatus 100 updates the vehicle position while setting the gear 14 to the forward gear D and fixing the steering angle to 0 (S241). That is, the parking path generating apparatus 100 updates the vehicle position by going straight for a predetermined distance of the vehicle 10 located in the right-angled parking area.

The parking route generating apparatus 100 updates the vehicle position by setting the gear 14 to the forward gear D, and moving the vehicle 10 forward according to the first steering angle (S241). In this case, the parking path generating apparatus 100 updates the vehicle position by moving the vehicle 10 forward until interference with the obstacle 30 occurs in front of the vehicle 10.

If the obstacle 30 indirectly occurs (S243; YES), the parking path generating apparatus 100 sets the vehicle position where the interference of the obstacle 30 occurs as a guide space [n++] (GS[n++]) (S244). At this time, the parking path generating apparatus 100 repeats steps S241 to S243 until interference occurs with the obstacle 30. That is, when the interference of the obstacle 30 does not occur, the parking path generating apparatus 100 performs step S241 again to move the vehicle 10 straight further by a predetermined distance, and then performs steps S242 and S243 again. Through this, the parking path generating apparatus 100 moves the vehicle 10 straight according to the first steering angle to a position at which the vehicle 10 can leave the right-angled parking space 20 in a guide space [n++] (GS[n++ ]).

The parking route generating apparatus 100 generates a first route including one or more guide spaces GS[n] through steps S241 to S244 described above.

As an example, referring to FIG. 19, the parking path generating apparatus 100 sets the right-angled parking space 20 as a guide space GS[0]. The parking route generating apparatus 100 sets the gear 14 to the forward gear while the vehicle 10 is located in the parallel parking space 22, sets the steering wheel 12 to 0, and then sets the vehicle ( 10) go straight.

The parking route generating apparatus 100 moves the vehicle 10 forward after setting the steering wheel 12 to the first steering angle while maintaining the forward gear D. At this time, if no obstacle interference occurs, the vehicle position is set to the guide space GS [1]. Here, the guide space GS[1] refers to a position in which the vehicle 10 can advance at the first steering angle and leave the right-angled parking space 20 without interference.

The parking route generating apparatus 100 generates a second route from the intermediate position MP to the start position SP (S250). Here, the start position SP refers to a position in which the vehicle 10 is waiting for parking. The second path generation step will be described in detail with reference to FIG. 20 as follows.

The parking path generating apparatus 100 sets a first temporary steering angle based on the reference steering angle and the set angle (S251). As shown in Equation 1 below, the parking route generating apparatus 100 sets a first temporary steering angle using the reference steering angle and the setting angle set in step S220. In this case, the first temporary steering angle is an angle that increases or decreases in units of a set angle from the reference steering angle.

Here, i is an integer of 0 or more and 9 or less.

The parking route generating apparatus 100 updates the vehicle position by moving the vehicle 10 forward with the gear 14 set to the forward gear D and the steering wheel 12 set to the first temporary steering angle. (S252). Through this, the parking assisted autonomous device updates the vehicle position while increasing or decreasing the reference steering angle in units of a set angle.

If the vehicle position is a position that can be moved to the starting position SP by going straight (S253; YES), the parking route generating apparatus 100 sets the vehicle position as a guide space [n++] (GS[n++]) (S254).

That is, referring to FIG. 21, the apparatus 100 for generating a parking route sets a first temporary steering angle by decreasing a reference steering angle in units of a set angle. Accordingly, the parking path generating apparatus 100 updates the vehicle position while increasing the turning radius R. The parking route generating apparatus 100 sets the vehicle position as a guide space [n++] (GS[n++]) if it is possible to move straight from the updated vehicle position to the start position SP. In this case, when the intermediate position MP is the guide space GS [1], the parking route generating apparatus 100 sets the vehicle position to the guide space GS [2].

On the other hand, referring to FIG. 22, when the vehicle position goes straight and cannot move to the start position SP, the parking route generating apparatus 100 sets the gear 14 to the reverse gear R, and the steering wheel In a state in which (12) is set to the back steering angle, the vehicle 10 is moved backward to update the vehicle position (S254). That is, the vehicle position is updated by rotating at the vehicle position updated in step S252 and moving backward.

The parking route generating apparatus 100 sets a second temporary steering angle based on the reference steering angle and the set angle (S256). The parking route generating apparatus 100 sets a second temporary steering angle using the reference steering angle and the setting angle set in step S220 (see Equation 1).

The parking route generating apparatus 100 updates the vehicle position by moving the vehicle 10 forward with the gear 14 set to the forward gear D and the steering wheel 12 set to the second temporary steering angle. (S257). Through this, the parking assist autonomous device updates the vehicle position while increasing or decreasing the reference steering angle in units of a set angle.

If the vehicle location updated in step S257 is a location where it is possible to move to the starting location (SP) by going straight (S258; Yes), the parking route generating device 100 converts the vehicle location to a guide space [n++] (GS[n++]). Set (S259).

As an example, referring to FIG. 23, when it is impossible to move straight from the updated vehicle position to the start position SP according to the first temporary steering angle, the parking route generating apparatus 100 back-steers the steering wheel 12 After setting the angle, the vehicle 10 is moved backward to update the vehicle position.

The parking route generating apparatus 100 sets the vehicle position as a guide space [n++] (GS[n++]) if it is possible to move straight from the updated vehicle position to the start position SP. In this case, when the intermediate position MP is the guide space GS [1], the parking route generating apparatus 100 sets the vehicle position to the guide space GS [2].

The parking route generating apparatus 100 reverses the first route and the second route (S260). That is, the parking route generating apparatus 100 reverses the first route and the second route because the parking route generating apparatus 100 inverts the parallel parking space 22, which is a position when parking is completed.

The parking route generating apparatus 100 generates a parking route by merging the inverted first route and the second route (S270). That is, the parking route generating apparatus 100 generates a parking route by merging the first route with the second route.

Although the preferred embodiments according to the present invention have been described above, various modifications are possible, and those of ordinary skill in the art can make various modifications and modifications without departing from the scope of the claims of the present invention. It is understood that it can be done.

ES: Exit side GS: Guide space
CP: Virtual vehicle position SP: Start position
MP: Intermediate position C: Intersection
R: turning radius 10: vehicle
12: steering wheel 14: gear
20: parking space 22: parallel parking space
24: vertical parking space 30: obstacle
100: parking route generation device
110: parking space detection unit 120: exit position detection unit
130: obstacle setting unit 140: first path generation unit
150: second path generation unit 160: path inversion processing unit
170: parking route generation unit

Claims (20)

A parking space detection unit that detects a parking space from the surrounding image of the vehicle;
A first route generator for generating a first route that is a route from the parking space detected by the parking space detector to an intermediate location;
A second path generating unit generating a second path that is a path from the intermediate position to a starting position, and generating a second path including at least one guide space;
A path inversion processing unit for inverting the first path and the second path; And
A parking path generator for generating a parking path using the first path and the second path reversed by the path reversal processing unit,
When the first path generation unit detects a parallel parking space by the parking space detection unit, it sets a set value including a reverse steering angle and a forward steering angle based on the unloading surface of the parallel parking space, and sets a gear as a reverse gear. And, in a state in which the steering wheel is set to the reverse steering angle, the vehicle is reversed to update the vehicle position, and when an obstacle interference occurs at the rear of the vehicle, the updated vehicle position is set as a guide space. The method of claim 1,
A parking path generating apparatus further comprising a vehicle taking-out position detecting unit that detects one of the surfaces constituting the parking space detected by the parking space detecting unit as an unloading surface. The method of claim 1,
Parking route generating apparatus further comprising an obstacle setting unit for setting an obstacle in the surrounding image based on the exit surface of the parking space. The method of claim 1,
The intermediate position is a parking path generating device which is a position that does not get caught in an obstacle even if the vehicle moves out of the parking space and advances by bending the steering wheel to the maximum. The method of claim 1,
The first path generator sets one or more guide spaces located on the first path,
The second route generating unit sets one or more guide spaces located on the second route. In the parking route generating method using the parking route generating device,
Detecting a parking space from the surrounding image of the vehicle;
Setting a set value including a reverse steering angle and a forward steering angle based on a vehicle exit surface of the parallel parking space when the parallel parking space is detected in the step of detecting the parking space;
Generating a first route from the parking space detected in the step of detecting the parking space to an intermediate position;
Generating a second path from the intermediate position to a start position;
Inverting the first path and the second path; And
Generating a parking path by merging the second path reversed in the inverting step with the first path reversed in the inverting step,
The step of generating the first route,
Updating a vehicle position by reversing the vehicle in a state in which a gear is set as a reverse gear and a steering wheel is set to the reverse steering angle; And
And setting the updated vehicle location as a guide space in the step of updating the vehicle location by reversing the vehicle when an obstacle interference occurs at the rear of the vehicle. The method of claim 6,
The method of generating a parking path further comprising the step of detecting one of the surfaces constituting the parking space as an exit surface. The method of claim 6,
The method of generating a parking path further comprising the step of setting a surface other than the exit surface among the surfaces constituting the parking space as an obstacle. delete The method of claim 6,
In the step of setting the set value
When the exit surface is located on the left side of the vehicle, the reverse steering angle is set to a positive number, the forward steering angle is set to a negative number,
When the exit surface is located on the right side of the vehicle, a reverse steering angle is set to a negative number and a forward steering angle is set to a positive number. delete The method of claim 6,
The step of generating the first route,
Updating a vehicle position by moving the vehicle forward while setting the gear to a forward gear and setting the steering wheel to a forward steering angle;
Setting the updated vehicle position as a guide space in the step of updating the vehicle position by moving the vehicle forward when an obstacle interference occurs in front of the vehicle; And
The method of generating a parking path further comprising the step of setting the vehicle position as a guide space when obstacle interference does not occur in front of the vehicle and deviates from the parallel parking space. The method of claim 6,
The step of generating the second path,
Setting the vehicle position as a guide space after rotation if the vehicle is able to move straight to the starting position after rotating from the intermediate position; And
And setting the vehicle position as a guide space after going straight when the vehicle is able to move to the starting position by rotating after going straight from the intermediate position. The method of claim 13,
The step of generating the second path,
Updating a vehicle position by setting a gear to a forward gear and moving the vehicle forward while the steering wheel is set to a forward steering angle if the intermediate position cannot be moved to the starting position by rotating straight or rotating after rotating at the intermediate position; And
When the turning radius at the vehicle position is the same as the turning radius at the intermediate position, setting the vehicle position as a guide space. delete In the parking route generating method using the parking route generating device,
Detecting a parking space from the surrounding image of the vehicle;
Setting a set value including a first steering angle, a reference steering angle, a set angle, and a back steering angle based on the exit surface of the right-angled parking space when detecting the right-angled parking space in the step of detecting the parking space;
Generating a first route from the parking space detected in the step of detecting the parking space to an intermediate position;
Generating a second path from the intermediate position to a start position;
Inverting the first path and the second path; And
Generating a parking path by merging the second path reversed in the inverting step with the first path reversed in the inverting step,
In the step of setting the set value
When the exit surface is located on the left side of the vehicle, the first steering angle and the reference steering angle are set to negative numbers, the set angle and back steering angle are set to positive numbers,
When the vehicle exit surface is located on the right side of the vehicle, a first steering angle and a reference steering angle are set to positive values, and a set angle and a back steering angle are set to a negative number. The method of claim 16,
The step of generating the first route,
Setting a gear as a forward gear and updating a vehicle position by moving the vehicle straight while the steering angle is fixed to 0; And
And setting the vehicle position as a guide space when obstacle interference occurs in front of the vehicle. The method of claim 16,
The step of generating the second path,
Setting a first temporary steering angle based on the reference steering angle and the set angle;
Updating a vehicle position by moving the vehicle forward while setting a gear to a forward gear and setting a steering wheel to the first temporary steering angle; And
And setting the vehicle location as a guide space if the vehicle location is a location where it is possible to move straight to a starting location. The method of claim 18,
The step of generating the second path,
If the vehicle position is a position where it is impossible to move to the starting position by going straight, setting a gear to a reverse gear, and updating the vehicle position by reversing the vehicle while the steering wheel is set to the back steering angle. How to create a route. The method of claim 19,
The step of generating the second path,
Setting a second temporary steering angle based on the reference steering angle and the set angle;
Updating a vehicle position by moving the vehicle forward while setting the gear to the forward gear (D) and setting the steering wheel to the second temporary steering angle; And
The method of generating a parking route further comprising setting the vehicle location as a guide space if the vehicle location is a location in which movement to the starting location is possible by going straight.

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