KR102237554B1 - Parking assist apparatus and method - Google Patents

Abstract

The present invention relates to a parking assistance apparatus and method, comprising: a human interface for selecting a parking mode; a parking controller for identifying a driver's parking pattern during parking and generating a parking trajectory by reflecting the parking mode and the parking pattern; and And a steering controller that controls a steering angle of the vehicle to follow the parking trajectory.

Description

Parking assistance device and method{PARKING ASSIST APPARATUS AND METHOD}

The present invention relates to a parking assistance apparatus and method for performing parking assistance by selecting a parking trajectory according to a driver's will or tendency (parking pattern) during parking.

In general, the Smart Parking Assist System (SPAS) generates a parking trajectory (hereinafter, a clothoid trajectory) using a relaxation curve (clothoid curve) or a combination of a straight line and a circular curve. A parking trajectory (hereinafter, a circular trajectory) is created. The clothoid trajectory and the circular trajectory have opposite characteristics. The clothoid trajectory has less influence on the vehicle speed than the original trajectory, so the generated trajectory has high followability and enables accurate parking. However, since the movement distance of the clothoid trajectory is long, it takes a lot of parking time. On the other hand, the original trajectory can be parked quickly because the moving distance is short, but the accuracy of the trajectory generated under the influence of the vehicle speed is low.

The conventional parking assistance system performs parking assistance using only one pre-designed trajectory, and thus has advantages and disadvantages of the trajectory. In other words, when the parking assistance system uses a circular trajectory generated by a straight line and a circular curve, the time required for parking is short due to the short travel distance, but the trajectory followability is poor, so the actual final parking position and the parking position according to the previously designed trajectory There is a difference.

In addition, when the parking system uses a clothoid trajectory generated by a clothoid curve, parking accuracy is high due to excellent trajectory tracking, but a long moving distance to the target position is required, so the time required for parking is long.

Vassilis Gikas and John Stratakos, "A Novel Geodetic Engineering Method for Accurate and Automated Road/Railway Centerline Geometry Extraction Based on the Bearing Diagram and Fractal Behavior", IEEE TRANSACTIONS ON INTELLIGENT TRANSPORTATION SYSTEMS, VOL. 13, NO. 1, pp. 115-126, MARCH 2012.

The present invention was conceived to solve the problems of the prior art, and an object of the present invention is to provide a parking assist device and method for performing parking assistance by selecting a parking trajectory according to a driver's will or tendency (parking pattern) during parking.

In order to solve the above problems, the parking assistance device according to an embodiment of the present invention has a human interface for selecting a parking mode, a parking trajectory by identifying a driver's parking pattern when parking, and reflecting the parking mode and the parking pattern. And a parking controller that generates a vehicle, and a steering controller that controls a steering angle of the vehicle to follow the parking trajectory.

In addition, the present invention further includes a distance sensor for measuring the distance between the vehicle and the surrounding vehicle.

In addition, the parking controller may calculate, record and manage a parking alignment degree of the vehicle based on distance data measured by the distance sensor.

The parking controller calculates the ratio of the number of parking alignment satisfaction to the number of parking performed, and determines the parking pattern as high parking alignment if the number is higher than the standard, and determines the parking pattern as low parking alignment if the ratio is less than the standard. It is characterized.

When the parking mode is not fast parking and the parking pattern is high in parking alignment, the parking controller generates the parking trajectory using a clothoid curve.

When the parking mode is not fast parking and the parking pattern is low in parking alignment, the parking controller generates the parking trajectory by a combination of a straight line and a circular curve.

When the parking mode is fast parking, the parking controller generates the parking trajectory by a combination of a straight line and a circular curve.

On the other hand, the parking assistance method according to an embodiment of the present invention includes the steps of checking whether or not fast parking is selected by the driver when the parking assistance is executed, checking the driver's parking pattern when the fast parking is not selected, and the parking assistance. And performing parking assistance by generating a parking trajectory according to the pattern.

In the step of confirming the driver's parking pattern, if the parking pattern has a high parking alignment, the parking trajectory is generated using a clothoid curve.

In the step of confirming the driver's parking pattern, if the parking pattern has a low parking alignment, the parking trajectory is generated by a combination of a straight line and a circular curve.

In the step of checking whether to select the fast parking, if the fast parking is selected, the parking trajectory is generated by a combination of a straight line and a circular curve.

The present invention can perform parking assistance by selecting a parking trajectory according to a driver's will or inclination when parking. Accordingly, the present invention can select the optimal parking trajectory in consideration of the surrounding environment and the parking pattern information of the usual driver when parking, thereby increasing the utility and convenience of the parking function.

In addition, according to the present invention, the driver can directly select fast parking in situations where fast parking is required (driver's time allowance, conditions around the road), and it provides a parking assistance function that reflects the driver's tendency even in general situations, so parking in various situations. Enables the use and utilization of supporting devices.

1 is a block diagram of a parking assistance device according to an embodiment of the present invention.
2 is a flow chart showing a parking assistance method according to an embodiment of the present invention.
3 is an example showing a parking mode selection screen of a driver according to the present invention.
4 is an example of generating a parking trajectory according to the present invention.
5 is another example of generating a parking trajectory according to the present invention.

Terms such as "comprise", "comprise", and "have" described in the present specification mean that the corresponding component can be included unless otherwise stated, and thus other components are not excluded. It means that it can contain more elements.

In addition, terms such as "... unit", "... group", and "module" described in this specification mean a unit that processes at least one function or operation, which can be implemented by hardware or software or a combination of hardware and software. I can. In addition, articles such as "one", "one" and "the" are meant to include both the singular and the plural in the context describing the present invention, unless otherwise indicated in the specification or clearly contradicted by the context. Can be used.

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

1 is a block diagram of a parking assistance apparatus according to an embodiment of the present invention.

As shown in FIG. 1, the parking assistance apparatus according to the present invention includes a distance sensor 110, a human machine interface (HMI) 120, a steering controller 130, and a parking controller 140.

The distance sensor 110 measures a distance to an object (eg, a vehicle or an obstacle, etc.) located around the vehicle. At least one distance sensor 110 is installed on the front, rear and side surfaces of the vehicle. For example, the distance sensor 110 measures a distance between an own vehicle and a nearby vehicle.

The data measured by the distance sensor 110 may be used to recognize the parking space and/or the surrounding environment of the vehicle.

The human interface 120 includes an input means for generating input data according to an operation of a user (eg, a driver) and an output means for outputting progress and results according to the operation of the parking assistance device in a form that can be recognized by the user. do.

The input means is implemented by any one or more of means such as switches, buttons, and keypads. In addition, the output means includes at least one of a speaker outputting an audio signal, a haptic module outputting a tactile signal, and a display outputting visual information. Displays are clusters, liquid crystal displays, thin film transistor liquid crystal displays, organic light emitting diodes, flexible displays, 3D displays, It may include any one or more of the HUD (Head Up Display).

The human interface 120 generates a control command instructing to execute or cancel parking assistance according to a user's manipulation. For example, when the driver turns on the parking switch, the human interface 120 transmits a control command instructing activation of the parking assistance function to the controller 140.

The human interface 120 notifies the parking controller 140 of the parking mode selected by the driver. Parking mode indicates whether fast parking is performed.

The steering controller 170 is an actuator for controlling steering of a vehicle, and is implemented as a motor drive power steering (MDPS). The steering controller 130 controls the steering angle of the vehicle to follow the parking trajectory for parking the vehicle in the parking space.

The parking controller 140 is connected to the distance sensor 110 through a local interconnect network (LIN), and is connected to the human interface 120 and the steering controller 130 through a controller area network (C-CAN) bus.

When parking a vehicle in a parking space, the parking controller 140 checks the parking alignment (parking alignment state) using the data measured through the distance sensor 110 when parking is completed.

For example, the parking controller 140 receives a distance value between both vehicles through the distance sensor 110 installed at the rear side of the vehicle, and calculates an average value (average distance value) of the received distance values. In addition, the parking controller 140 extracts the inclination of both vehicles using the received distance value. The parking controller 140 includes it in calculating the average value and extracting the slope only when the input distance value is within a certain range from the average value.

The parking controller 140 records and manages the number of parking performed, the degree of parking alignment at the time of parking completion, and whether the parking alignment is satisfied in a storage means (not shown). The parking controller 140 determines (determines) the driver's parking pattern based on the parking alignment recorded in the storage means. That is, the parking controller 140 learns the parking pattern of the usual driver.

The parking controller 140 calculates the ratio of the number of parking alignment satisfaction to the number of parking performed in order to determine the driver's parking pattern (parking tendency). If the ratio of the number of parking alignment satisfaction to the number of parking operations is greater than or equal to the reference, the parking controller 140 determines the driver's parking tendency as high parking alignment. On the other hand, the parking controller 140 determines the driver's parking tendency as low parking alignment when the ratio of the number of parking alignment satisfaction to the number of parking performed by the driver is less than the standard.

The parking controller 140 generates a parking space entrance trajectory (hereinafter, a parking trajectory) according to the parking mode selected by the driver and the parking pattern of the driver.

When the driver selects fast parking as the parking mode, the parking controller 140 generates a parking trajectory (circle arc) using a straight line and a circular arc.

If fast parking is not selected by the driver, the parking controller 140 checks the driver's parking pattern, and if the parking pattern is'high parking alignment', the parking trajectory (closo) is used using a clothoid curve (Eulerian spirals). Droid trajectory).

On the other hand, when the driver does not select fast parking as the parking mode and the driver's parking pattern is'low parking alignment', the parking controller 140 generates a parking trajectory using a straight line and a circular curve with a short moving distance. .

The parking controller 140 transmits the required steering angle according to the generated parking trajectory to the steering controller 170. At this time, the parking controller 140 monitors the change in the steering angle of the vehicle in real time through a steering angle sensor (not shown) and controls the steering angle of the vehicle by controlling the steering controller 170 accordingly.

When the vehicle enters the determined parking end determination position, the parking controller 140 checks the parking alignment status based on the data measured through the distance sensor 110 to determine whether or not parking is satisfied. Here, the parking end determination position may be a center point position of the vehicle when the vehicle in the parking space is parked.

For example, the parking controller 140 measures the distance to an object (other vehicle previously parked) around the vehicle through the distance sensor 110 at a predetermined period until the vehicle enters the parking end determination position and calculates the average distance value. Calculate. Then, when the vehicle enters the parking end determination position, the parking controller 140 calculates the distance and inclination from the object (another vehicle previously parked) by using the average distance value calculated up to that point. In addition, the parking controller 140 satisfies the parking alignment degree when the separation distance and inclination are within the reference separation distance and the reference inclination.

2 is a flowchart showing a parking assistance method according to an embodiment of the present invention, and FIG. 3 is an example showing a parking mode selection screen of a driver according to the present invention.

The parking controller 140 activates the parking assistance function upon receiving a parking assistance execution command through the human interface 120 (S101).

The parking controller 140 checks whether the driver has selected fast parking through the human interface 120 (S103). When executing the parking assistance function, the parking controller 140 outputs a parking mode selection screen on the display screen through the human interface 120 so that the driver can select the parking mode as shown in FIG. 3. In addition, when the user selects the parking mode on the parking mode selection screen, the parking controller 140 receives selection information selected by the driver from the human interface 120. For example, if the driver selects fast parking, the human interface 120 notifies the parking controller 140 of the fast parking selection, and if the driver does not select the fast parking, the parking controller 140 notifies the fast parking selection.

When fast parking is not selected as the parking mode, the parking controller 140 checks the driver's parking pattern (S105). In other words, the parking controller 140 checks whether the driver prefers parking with high parking alignment or parking with low parking alignment. At this time, the parking controller 140 checks the learned parking pattern of the driver.

The parking controller 140 checks whether the driver's parking pattern has a high parking alignment as a result of checking the driver's parking pattern (S107).

When the driver prefers parking with high parking alignment, the parking controller 140 performs parking by generating a parking trajectory (closoid trajectory) using a clothoid curve (S109).

On the other hand, the parking controller 140 generates a parking trajectory (circle trajectory) with a combination of a straight line and a circular curve when fast parking is selected as the parking mode in S103 or if the driver's parking pattern is found to have low parking alignment in S107. Performs (S111).

4 shows an example of generating a parking trajectory according to the present invention.

As shown in FIG. 4, the parking controller 140 searches for a parking space R located between other parked vehicles Vo through the distance sensor 110. The parking controller 140 guides the selection of a parking mode through the human interface 120 in order to park the vehicle Vs at a right angle in the searched parking space R. Thereafter, the parking controller 140 recognizes the driver's selection of the parking mode through the human interface 120. When the driver selects fast parking, the parking controller 140 makes the contact point where the center line (Lref) of the parking space (R) and the center line (Lvc) and the circular curve (Lc) of the parking space (R) as a curvature change point (Pc). Create a parking trajectory. Here, the center line Lref of the parking space R is a straight line in contact with the parking target position (parking end determination position).

The parking controller 140 must perform steering control after stopping the vehicle at the curvature change point Pc in order to accurately follow the parking trajectory generated by a combination of a straight line and a circular curve.

In the above embodiment, a case where the driver selects the parking mode as fast parking is described as an example. However, when the driver does not select fast parking as the parking mode, the parking controller 140 checks the driver's parking pattern and the parking pattern is parked. If the alignment is also low, the parking trajectory is generated by a combination of a straight line and a circular curve, as in the case of the driver selecting fast parking.

5 shows another example of generating a parking trajectory according to the present invention.

When the vehicle (Vs) is to be parked at a right angle in the parking space (R) located between other parked vehicles (Vo), the parking controller 140 checks the parking mode selected by the driver, and if fast parking is not selected, the driver It is determined whether the driver prefers parking with high parking alignment by judging the parking pattern (propensity) of.

When the driver prefers parking with high parking alignment, the parking controller 140 uses a clothoid curve in contact with the center line Lref of the parking space R as shown in FIG. ). That is, the parking controller 140 generates a clothoid curve in contact with the parking target position.

In the above, even if all the constituent elements constituting the embodiments of the present invention have been described as being combined into one or operating in combination, the present invention is not necessarily limited to these embodiments. That is, within the scope of the object of the present invention, all of the constituent elements may be selectively combined and operated in one or more. In addition, although all of the components may be implemented as one independent hardware, a program module that performs some or all functions combined in one or more hardware by selectively combining some or all of the components. It may be implemented as a computer program having Codes and code segments constituting the computer program may be easily inferred by those skilled in the art of the present invention. Such a computer program is stored in a computer-readable storage medium, and is read and executed by a computer, thereby implementing an embodiment of the present invention.

110: distance sensor
120: HMI
130: steering controller
140: parking controller

Claims (11)

Human interface to select parking mode,
A parking controller that identifies a driver's parking pattern when parking and generates a parking trajectory by reflecting the parking mode and the parking pattern, and
And a steering controller for controlling a steering angle of the vehicle to follow the parking trajectory,
The parking controller,
Parking, characterized in that, by calculating the ratio of the number of parking alignment satisfaction to the number of parking performed, the parking pattern is determined as high parking alignment if the number is higher than the standard, and the parking pattern is determined as low parking alignment if the ratio is less than the standard. Support device.
The method of claim 1,
Parking assist device, characterized in that it further comprises a distance sensor for measuring the distance between the vehicle and surrounding vehicles.
The method of claim 2,
The parking controller,
Parking assistance apparatus, characterized in that for calculating, recording and managing the parking alignment degree of the vehicle based on the distance data measured by the distance sensor.
delete The method of claim 1,
The parking controller,
When the parking mode is not fast parking and the parking pattern is also high in parking alignment, the parking assist device generates the parking trajectory using a clothoid curve.
The method of claim 1,
The parking controller,
When the parking mode is not fast parking and the parking pattern is low in parking alignment, the parking assist device generates the parking trajectory by a combination of a straight line and a circular curve.
The method of claim 1,
The parking controller,
When the parking mode is fast parking, the parking assist device generates the parking trajectory by a combination of a straight line and a circular curve.
Checking whether the driver selects fast parking when executing parking assistance,
When the fast parking is not selected, checking the parking pattern of the driver based on the ratio of the number of parking alignment satisfaction to the number of parking performed, and
And performing parking assistance by generating a parking trajectory according to the parking pattern.
The method of claim 8,
In the step of checking the driver's parking pattern,
When the parking pattern has a high parking alignment, the parking trajectory is generated using a clothoid curve.
The method of claim 8,
In the step of checking the driver's parking pattern,
When the parking pattern has a low parking alignment, the parking trajectory is generated by a combination of a straight line and a circular curve.
The method of claim 8,
In the step of checking whether the fast parking is selected,
When the fast parking is selected, the parking assist method is characterized in that generating the parking trajectory by a combination of a straight line and a circular curve.

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