KR102304601B1 - Apparatus for controlling autonomous parking and method thereof - Google Patents

Abstract

An automatic parking control apparatus and method are provided. The automatic parking control apparatus according to an embodiment of the present invention includes a radar sensor, a detection unit including a radar sensor and a different type of sensor, and a control unit communicatively connected to the detection unit. Here, the control unit determines whether the vehicle is moving backward, detects an obstacle from the rear of the vehicle using a different type of sensor, and determines whether a signal detected by the radar sensor is present at a farther distance than the obstacle. And, if there is a signal detected by the radar sensor is configured to ignore the detection signal.

Description

Apparatus for controlling autonomous parking and method thereof

The present invention relates to an automatic parking control apparatus and a method therefor.

Recently, as the demand for driver safety and convenience as well as vehicle performance increases, ADAS (Advanced Driver Assist System) that assists vehicle control based on information obtained through sensors installed in the vehicle has been applied. Assist the driver while driving.

In particular, automatic parking technology is a convenience function with high driver's sensibility and is becoming more common in vehicle applications. The conventional automatic parking control apparatus misrecognizes a vehicle traveling in the front as a vehicle existing in the rear due to a signal of a radar sensor reflected by a wall or other obstacle located at the rear and generates a collision warning. This occurs because the radar sensor alone cannot determine whether the vehicle is in a rear parking condition or a rear parking condition. Therefore, a false warning situation frequently occurs, causing trouble for the driver.

US 2015-0061422 A

In order to solve the problems of the prior art as described above, an embodiment of the present invention is capable of preventing the signal of the rear-side radar sensor from being reflected by the rear obstacle and erroneously warning the other vehicle moving in the front as the rear obstacle. An object of the present invention is to provide an automatic parking control device and method therefor.

However, the problems to be solved by the present invention are not limited to the problems mentioned above, and other problems not mentioned will be clearly understood by those skilled in the art from the following description.

According to an aspect of the present invention for solving the above problems, the radar sensor and the detection unit including the radar sensor and a different type of sensor; and a control unit communicatively connected to the sensing unit, wherein the control unit determines whether the vehicle is reversing, detects an obstacle from the rear of the vehicle using the heterogeneous sensor, and a distance from the obstacle There is provided an automatic parking control device configured to determine whether there is a signal sensed by the radar sensor at a greater distance, and to ignore the detected signal if the signal sensed by the radar sensor exists.

In an embodiment, the heterogeneous sensor may include at least one of a camera sensor, a lidar sensor, and an ultrasonic sensor.

In an embodiment, the controller may be configured to calculate an angle between a reference line of the vehicle and the obstacle when detecting an obstacle from the rear of the vehicle.

In an embodiment, the automatic parking control apparatus may further include a storage unit for storing the calculated angle. Here, the control unit may be configured to detect an obstacle area according to the stored angle.

In one embodiment, the control unit may be configured to identify a signal sensed by the radar sensor at a greater distance than the distance from the obstacle as a reflected signal by the obstacle.

In an embodiment, the control unit may be configured to determine whether a signal detected by a sensor provided in front of the vehicle among the heterogeneous sensors and the radar sensor exists at the position of the reflected signal.

In one embodiment, the control unit may be configured to ignore the signal detected by the radar sensor when there is a signal sensed at the position of the reflected signal.

In an embodiment, the automatic parking control device may further include an alarm unit for warning that the obstacle 1 exists in the rear when a signal detected by the radar sensor exists. Here, the control unit may be configured to control the blocking of the erroneous warning execution of the alarm unit according to the signal detected by the radar sensor.

According to another aspect of the present invention, there is provided a method comprising: a first determining step of determining whether a vehicle is reversing; detecting an obstacle from the rear of the vehicle using a radar sensor and a different type of sensor; a second determining step of determining whether a signal sensed by a radar sensor exists at a greater distance than the distance from the obstacle; and ignoring the detection signal when the signal detected by the radar sensor exists.

In an embodiment, the heterogeneous sensor may include at least one of a camera sensor, a lidar sensor, and an ultrasonic sensor.

In an embodiment, the automatic parking control method may further include calculating an angle between a reference line of the vehicle and the obstacle when an obstacle is detected from the rear of the vehicle. Here, the calculated angle may be stored in the storage unit.

In an embodiment, the detecting may include detecting an obstacle area according to the stored angle.

In one embodiment, the step of ignoring may identify the signal detected by the radar sensor as a signal reflected by the obstacle.

In one embodiment, the automatic parking control method is a third determination for determining whether a signal detected by a sensor provided in front of the vehicle among the heterogeneous sensors and the radar sensor at the position of the reflected signal exists. It may include further steps.

In one embodiment, the ignoring step may ignore the signal detected by the radar sensor when there is a signal detected at the position of the reflected signal.

In an embodiment, the step of ignoring may block execution of a false warning according to a signal detected by the radar sensor.

The automatic parking control apparatus and method according to an embodiment of the present invention identify a rear obstacle with a radar sensor and a different kind of sensor, and ignore a signal of a radar sensor detected at a distance from the obstacle, thereby providing a false warning due to the reflection of the obstacle. can be prevented, thereby reducing driver fatigue and inconvenience caused by unnecessary erroneous warnings, thereby improving driver convenience.

In addition, the automatic parking control apparatus and method according to an embodiment of the present invention determine whether a signal is detected using a sensor provided in front of the vehicle at the location of the reflected signal, so that the actual vehicle is present at the location of the reflected signal Since it is possible to verify whether or not it is correct, the blocking performance of false warnings can be further improved.

In addition, the automatic parking control apparatus and the method according to an embodiment of the present invention calculate the angle between the obstacle and the reference line of the vehicle, so that the reflection area by the obstacle and the obstacle area corresponding thereto can be accurately detected. The detection performance can be further improved.

1 is a view showing a situation in which a vehicle equipped with an automatic parking control device according to an embodiment of the present invention detects the vehicle by a radar sensor when reversing;
2 is a block diagram of an automatic parking control apparatus according to an embodiment of the present invention;
3 is a flowchart of an automatic parking control method according to an embodiment of the present invention;
4 is a view showing an obstacle area detected by a radar sensor in an automatic parking control method according to an embodiment of the present invention;
5 is a diagram illustrating a case in which an obstacle and a reference line of a vehicle have a constant angle in the automatic parking control method according to an embodiment of the present invention;
6 is a diagram illustrating a case in which a predetermined angle between an obstacle and a reference line of a vehicle is not considered in the automatic parking control method according to an embodiment of the present invention.

Hereinafter, with reference to the accompanying drawings, the embodiments of the present invention will be described in detail so that those of ordinary skill in the art to which the present invention pertains can easily implement them. The present invention may be embodied in many different forms and is not limited to the embodiments described herein. In order to clearly explain the present invention in the drawings, parts irrelevant to the description are omitted, and the same reference numerals are assigned to the same or similar components throughout the specification.

The embodiments of the present invention are provided to more completely explain the present invention to those of ordinary skill in the art, and the embodiments described below may be modified in various other forms, The scope is not limited to the following examples. Rather, these examples are provided so as to more fully and complete the present invention, and to fully convey the spirit of the present invention to those skilled in the art.

The terminology used herein is used to describe specific embodiments, not to limit the present invention. As used herein, the singular form may include the plural form unless the context clearly dictates otherwise. Also, as used herein, “comprise” and/or “comprising” refers to the presence of the recited shapes, numbers, steps, actions, members, elements, and/or groups of those specified. and does not exclude the presence or addition of one or more other shapes, numbers, movements, members, elements and/or groups. As used herein, the term “and/or” includes any one and any combination of one or more of those listed items.

Although the terms first, second, etc. are used herein to describe various members, regions and/or regions, it is to be understood that these elements, parts, regions, layers and/or regions are not limited by these terms. . These terms do not imply a specific order, upper and lower, or superiority, and are used only to distinguish one member, region or region from another. Accordingly, a first member, region, or region described below may refer to a second member, region or region without departing from the teachings of the present invention.

In this specification, terms such as “or”, “at least one”, etc. may indicate one of the words listed together, or a combination of two or more. For example, "A or B" and "at least one of A and B" may include only one of A or B, or both A and B.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, embodiments of the present invention will be described with reference to drawings schematically illustrating embodiments of the present invention. In the drawings, variations of the illustrated shape may be expected, for example depending on manufacturing technology and/or tolerances. Therefore, the embodiment of the present invention should not be construed as limited to the specific shape of the region shown in this specification, but should include, for example, a change in shape caused by manufacturing.

1 is a view showing a situation in which a vehicle equipped with an automatic parking control device according to an embodiment of the present invention detects the vehicle by a radar sensor when reversing.

Referring to FIG. 1 , when the vehicle 10 is parked in reverse, the vehicle 10 senses the rear using a sensor mounted thereon. However, such a function is a function for avoiding a collision with another vehicle moving from the rear when the vehicle is taken out in reverse rather than parking, and a collision warning may be issued to the driver.

Here, when the obstacle 1 is present at the rear of the vehicle 10 , the signal of the radar sensor mounted on the vehicle 10 is reflected by the obstacle 1 to the actual vehicle ( 11) is detected. At this time, in the vehicle 10, the signal of the radar sensor passes through the obstacle 1 and the virtual vehicle 12 exists at a distance d2 corresponding to the distance d1 of the real vehicle 11 from the obstacle 1 can be recognized as That is, in response to the distance d1 between the obstacle 1 and the real vehicle 11 by the signal of the radar sensor, the virtual vehicle 12 moves to a distance d2 extended from the obstacle 1 . can be recognized as existing.

In such a situation, a warning for collision avoidance is performed with respect to the vehicle 10 moving backward even though there is no possibility of collision with the actual vehicle 11, but this is an unnecessary false warning.

To this end, the present invention first detects an obstacle, such as a wall, existing in the rear using a radar sensor such as an ultrasonic sensor, a camera sensor, and a lidar sensor and a different type of sensor, and a signal detected by the radar sensor at a distance from the obstacle. By ignoring , false warnings according to the signal detected by the radar sensor are blocked.

Accordingly, according to the present invention, it is possible to prevent an erroneous warning due to the reflection of the signal of the side and rear radar sensors by the rear obstacle 1 . Accordingly, the present invention can reduce the driver's fatigue due to unnecessary false warnings and reduce the hassle of canceling the warning, thereby improving the driver's convenience.

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

Referring to FIG. 2 , the automatic parking control apparatus 100 may include a sensing unit 110 , a control unit 120 , a storage unit 130 , and an alarm unit 140 .

The sensing unit 110 may sense surrounding information of the vehicle 10 . The detector 110 may include a radar sensor 112 and a sensor different from the radar sensor 112 . Here, the heterogeneous sensor may include at least one of a camera sensor 114 , a lidar sensor 116 , and an ultrasonic sensor 118 .

A plurality of radar sensors 112 may be provided at the front, rear, or side of the vehicle 10 . The radar sensor 112 may detect the position and speed of the sensing target by transmitting the microwave and then receiving the microwave reflected by the target.

At least one camera sensor 114 may be provided at the front and rear of the vehicle 10 . The camera sensor 114 may acquire an image around the vehicle 10 .

At least one lidar sensor 116 may be provided at the front and rear of the vehicle 10 . The lidar sensor 116 may acquire an image of the sensing target by receiving the light reflected from the target after transmitting the light.

A plurality of ultrasonic sensors 118 may be provided at the front, rear, or side of the vehicle 10 . The ultrasonic sensor 112 may transmit the ultrasonic wave and then receive the reflected ultrasonic wave to detect the distance and direction of the sensing target.

The storage unit 130 may store the angle between the vehicle 10 and the obstacle 1 calculated by the control unit 120 as will be described later.

When a signal detected by the radar sensor 112 is present, the alarm unit 140 may warn that the obstacle 1 is present in the rear. In this case, the alarm unit 140 may perform a collision warning under the control of the control unit 120 . The alarm unit 140 may perform a collision warning visually or audibly. For example, the alarm unit 140 may visually perform a collision warning through a mirror indicator or a cluster. As another example, the alarm unit 140 may perform a collision warning audibly through the cluster.

The control unit 120 may be communicatively connected to the sensing unit 110 , the storage unit 130 , and the alarm unit 140 . Here, the controller 120 may be an ECU of the vehicle 10 . Optionally, the controller 120 may be a controller separately provided for automatic parking.

Further, the control unit 120 may be configured to determine whether the vehicle 10 is reversing. In this case, the control unit 120 may be configured to determine whether to reverse the vehicle 10 according to whether the gear position of the vehicle 10 is in the “R (reverse)” state.

In addition, the controller 120 may be configured to detect the obstacle 1 from the rear of the vehicle 10 using the radar sensor 112 and a different type of sensor. At this time, the controller 120 is configured to detect an obstacle from the rear of the vehicle 10 using at least one of the camera sensor 114, the lidar sensor 116, and the ultrasonic sensor 118 except for the radar sensor 112. can

In addition, when detecting the obstacle 1 from the rear of the vehicle 10 , the controller 120 calculates an angle θ between the reference line of the vehicle 10 and the obstacle 1 and stores it in the storage unit 130 . can be configured. Here, the control unit 120 is the vehicle 10 and the angle θ based on the position of the obstacle 1 according to the detection result of at least one of the camera sensor 114, the lidar sensor 116, and the ultrasonic sensor 118. ) can be configured to yield

For example, the control unit 120 indicates the position of the obstacle 1 in the coordinate system of the own vehicle, and when the reference y-axis position of the own vehicle on the coordinate system is 0, the value of the x-axis position and the angle (slope) of the obstacle 1 can be configured to calculate.

In this case, the control unit 120 may be configured to detect the obstacle area 2 according to the angle θ stored in the storage unit 130 . For example, the controller 120 may be configured to detect an area spaced apart from the obstacle 1 by a certain distance as the obstacle area according to the calculated angle θ of the obstacle 1 .

Accordingly, the automatic parking control apparatus 100 can accurately detect the reflective area by the obstacle 1 and the corresponding obstacle area, thereby further improving the detection performance of the obstacle area. Here, the obstacle area is an area in which the radar signal should be ignored, and refers to an area located behind the obstacle 1 corresponding to a position detected by the radar sensor after being reflected by the obstacle 1 .

In addition, the control unit 120 may be configured to determine whether a signal detected by the radar sensor 112 exists at a greater distance than the distance from the obstacle 1 . In this case, the control unit 120 may be configured to determine whether a position corresponding to the signal detected by the radar sensor 112 is greater than the distance between the vehicle 10 and the obstacle 1 .

Here, when a signal is detected by the radar sensor 112 at a greater distance than the distance from the obstacle 1 , the controller 120 may be configured to identify the detected signal as a reflected signal by the obstacle 1 .

In addition, the control unit 120 detects the position of the reflected signal by a sensor provided in front of the vehicle 10 among the radar sensor 112 , the camera sensor 114 , the lidar sensor 116 , and the ultrasonic sensor 118 . may be configured to determine whether a signal is present. That is, the control unit 120 may be configured to verify whether a vehicle actually exists at the position of the reflected signal through a sensor provided in front of the vehicle 10 .

Accordingly, the automatic parking control apparatus 100 can verify whether the actual vehicle 11 exists at the position estimated by the reflected signal from the obstacle 1 , so that the blocking performance of the false warning can be further improved and collision avoidance can be avoided. safety can be improved.

Here, when the detected signal is present at the position of the reflected signal, the control unit 120 may be configured to ignore the signal detected by the radar sensor 112 . Here, the presence of the actual vehicle 11 in front of the vehicle 10 may verify that the signal detected by the radar sensor 112 is a reflected signal reflected by the obstacle 1 .

In this case, the control unit 120 may be configured to control the blocking of the erroneous warning execution of the alarm unit 140 according to the signal detected by the radar sensor 112 .

With such a configuration, the automatic parking control apparatus 100 according to an embodiment of the present invention can prevent a false warning due to the reflection of an obstacle, thereby reducing the driver's fatigue and inconvenience caused by unnecessary false warning. Convenience can be improved, and it is possible to verify whether a real vehicle exists at the location of the reflected signal, so the blocking performance of false warnings can be further improved. It is possible to further improve the detection performance of the obstacle area.

Hereinafter, a vehicle safe driving control method according to an embodiment of the present invention will be described with reference to FIGS. 3 to 6 .

3 is a flowchart of an automatic parking control method according to an embodiment of the present invention, FIG. 4 is a view showing an obstacle area detected by a radar sensor in an automatic parking control method according to an embodiment of the present invention, and FIG. 5 is a view showing a case in which the reference line of the obstacle and the vehicle have a constant angle in the automatic parking control method according to an embodiment of the present invention, and FIG. It is a diagram showing a case in which a constant angle of the reference line is not considered.

The automatic parking control method 200 includes the steps of detecting a rear obstacle (S210 to S240), determining whether a signal detected at a distance from the obstacle exists (S250 and S260), and the position of the reflected signal detected If there is a signal, it includes steps (S270 and S280) of ignoring the corresponding signal.

More specifically, as shown in FIG. 3 , first, the automatic parking control apparatus 100 determines whether the vehicle 10 is in reverse (step S210 ). In this case, the automatic parking control apparatus 100 may determine whether to reverse the vehicle 10 according to whether the gear position of the vehicle 10 is in the "R (reverse)" state.

As a result of the determination in step S210, if the vehicle 10 is not reversing, the vehicle 10 waits until reversing. As a result of the determination in step S210 , when the vehicle 10 is in reverse, the automatic parking control apparatus 100 determines whether an obstacle 1 is detected from the rear of the vehicle 10 using a radar sensor and a different type of sensor. do (step S220). At this time, as shown in FIG. 4 , the automatic parking control apparatus 100 uses at least one of the camera sensor 114 , the lidar sensor 116 , and the ultrasonic sensor 118 except for the radar sensor 112 . (10) Obstacles can be detected from the rear.

As a result of the determination in step S220 , when an obstacle 1 is detected from the rear of the vehicle 10 , the automatic parking control apparatus 100 calculates an angle θ between the reference line of the vehicle 10 and the obstacle 1 ( step S240). At this time, the automatic parking control apparatus 100 is configured to connect with the vehicle 10 based on the position of the obstacle 1 according to the detection result of at least one of the camera sensor 114 , the lidar sensor 116 , and the ultrasonic sensor 118 . The angle θ can be calculated. Here, the calculated angle θ may be stored.

For example, as shown in FIG. 5 , the automatic parking control device 100 indicates the position of the obstacle 1 in the coordinate system of the own vehicle, and when the reference y-axis position of the own vehicle on the coordinate system is 0, the value of the x-axis position and It may be configured to calculate an angle (slope) of the obstacle 1 .

As shown in FIG. 6 , when the angle of the obstacle 1 is not taken into consideration, the automatic parking control apparatus 100 detects a certain obstacle area 2 ′ regardless of the angle θ of the obstacle 1 . do. Accordingly, when the vehicle 10 and the obstacle 1 are not vertically positioned, an area in which the signal sensed by the radar sensor 112 should be ignored may be detected differently from reality.

Next, the automatic parking control apparatus 100 detects the obstacle area 2 according to the stored angle θ (step S240). For example, the automatic parking control apparatus 100 may detect an area spaced apart from the obstacle 1 by a certain distance as the obstacle area 2 according to the calculated angle θ of the obstacle 1 .

Next, the automatic parking control apparatus 100 determines whether there is a signal detected by the radar sensor 112 at a far distance than the distance from the obstacle 1 (step S250 ). In this case, the automatic parking control apparatus 100 may determine whether a position corresponding to the signal sensed by the radar sensor 112 is greater than the distance between the vehicle 10 and the obstacle 1 .

Referring to FIG. 4 , when the distance D between the vehicle 10 and the obstacle 1 is greater than the distance D + d1 detected by the radar sensor 112 , it is detected by the radar sensor 112 . The object is actually a real vehicle 11 moving in front of the vehicle 10 . Therefore, in this case, there is no possibility of collision between the vehicle 10 moving backward and the actual vehicle 11 . However, the signal detected by the radar sensor 112 may be mistaken for being located at a predetermined distance (D + d2) from the rear of the obstacle 1 in the virtual vehicle 12 in the obstacle area 2 .

As a result of the determination in step S250 , if there is a signal detected by the radar sensor 112 at a farther distance than the distance from the obstacle 1 , the automatic parking control apparatus 100 transmits the detected signal to the reflected signal by the obstacle 1 . is identified (step S260).

Next, the automatic parking control apparatus 100 determines whether a signal detected by a sensor provided in the front of the vehicle 10 exists at the position of the reflected signal (step S270). Here, the sensor provided at the front of the vehicle 10 may include at least one of a radar sensor 112 , a camera sensor 114 , a lidar sensor 116 , and an ultrasonic sensor 118 .

Accordingly, the automatic parking control apparatus 100 may verify whether the actual vehicle is present at the position of the reflected signal through the sensor provided in the front of the vehicle 10 .

As a result of the determination in step S270 , if the detected signal exists at the position of the reflected signal, the automatic parking control apparatus 100 ignores the signal detected by the radar sensor 112 (step S280 ). Here, the presence of the actual vehicle 11 in front of the vehicle 10 may verify that the signal detected by the radar sensor 112 is a reflected signal reflected by the obstacle 1 .

In this case, the automatic parking control apparatus 100 may block execution of a false warning according to the signal detected by the radar sensor 112 .

As a result of the determination in step S220 , the obstacle 1 is not detected in the rear of the vehicle 10 , or as a result of the determination in step S250 , a signal detected by the radar sensor 112 at a greater distance than the distance from the obstacle 1 exists If not, or if there is no signal detected at the position of the reflected signal as a result of the determination in step S270, the automatic parking control method is terminated.

In this way, the automatic parking control method 200 according to an embodiment of the present invention can prevent an erroneous warning due to the reflection of an obstacle, thereby reducing the driver's fatigue and hassle due to unnecessary erroneous warning. Convenience can be improved, and it is possible to verify whether a real vehicle exists at the location of the reflected signal, so the blocking performance of false warnings can be further improved. It is possible to further improve the detection performance of the obstacle area.

The above methods may be implemented by the automatic parking control apparatus 100 as shown in FIG. 2, and in particular, may be implemented as a software program for performing these steps, in this case, these programs are computer readable It may be stored in a recording medium or transmitted by a computer data signal combined with a carrier wave in a transmission medium or a communication network. In this case, the computer-readable recording medium may include any type of recording device in which data readable by a computer system is stored.

Although one embodiment of the present invention has been described above, the spirit of the present invention is not limited to the embodiments presented herein, and those skilled in the art who understand the spirit of the present invention can add components within the scope of the same spirit. , changes, deletions, additions, etc. may easily suggest other embodiments, but this will also fall within the scope of the present invention.

100: automatic parking control device 110: sensing unit
112: radar sensor 114: camera sensor
116: lidar sensor 118: ultrasonic sensor
120: control unit 130: storage unit
140: alarm unit

Claims (16)

a detection unit including a radar sensor and a sensor different from the radar sensor; and
and a control unit communicatively connected to the sensing unit,
The control unit is
determine whether the vehicle is reversing;
Detecting an obstacle from the rear of the vehicle using the heterogeneous sensor,
When the obstacle is detected from the rear of the vehicle, an angle between the reference line of the vehicle and the obstacle is calculated,
detecting an area located behind the obstacle as an obstacle area according to an angle between the reference line of the vehicle and the obstacle;
Determining whether a signal detected by the radar sensor at a farther distance than the distance from the obstacle in the obstacle area exists;
Identifies the signal sensed by the radar sensor at a greater distance than the distance from the obstacle as the obstacle, the actual vehicle in front of the vehicle, and the reflected signal sequentially reflected by the obstacle,
Determining whether a signal detected by a sensor provided in front of the vehicle among the different types of sensors and the radar sensor exists at the location of the actual vehicle,
When a signal detected by a sensor provided in front of the vehicle exists at the location of the actual vehicle, it is determined that the actual vehicle moving in front of the vehicle exists and the signal detected by the radar sensor is ignored. Automated parking control system. According to claim 1,
The heterogeneous sensor includes at least one of a camera sensor, a lidar sensor, and an ultrasonic sensor. delete According to claim 1,
It further includes; a storage unit for storing the calculated angle;
The control unit is an automatic parking control device configured to detect the obstacle area according to the stored angle. delete delete delete According to claim 1,
When there is a signal detected by the radar sensor, further comprising an alarm unit for warning that an obstacle exists in the rear,
The control unit is configured to control the blocking of the execution of the false warning of the alarm unit according to the signal detected by the radar sensor. a first determining step of determining whether the vehicle is reversing;
detecting an obstacle from the rear of the vehicle using a radar sensor and a different type of sensor;
calculating an angle between a reference line of the vehicle and the obstacle when the obstacle is detected from the rear of the vehicle;
detecting an area located behind the obstacle as an obstacle area according to an angle between the reference line of the vehicle and the obstacle;
a second determining step of determining whether a signal sensed by a radar sensor exists at a distance from the obstacle in the obstacle area at a greater distance than the distance from the obstacle;
identifying the signal sensed by the radar sensor at a distance from the obstacle as a reflected signal sequentially reflected by the obstacle, the actual vehicle in front of the vehicle, and the obstacle;
a third determining step of determining whether a signal detected by a sensor provided in front of the vehicle among the different types of sensors and the radar sensor exists at the actual location of the vehicle; and
When a signal detected by a sensor provided in front of the vehicle exists at the location of the actual vehicle, it is determined that the actual vehicle moving in front of the vehicle exists, and the signal detected by the radar sensor is ignored. step;
Automatic parking control method comprising a. 10. The method of claim 9,
The heterogeneous sensor is an automatic parking control method comprising at least one of a camera sensor, a lidar sensor, and an ultrasonic sensor. delete delete delete delete delete 10. The method of claim 9,
The step of ignoring is an automatic parking control method of blocking the execution of a false warning according to the signal detected by the radar sensor.

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