KR102316713B1 - Remote automatic parking device - Google Patents

Abstract

Disclosed is an invention related to a remote automatic parking apparatus. The remote automatic parking apparatus of the present invention comprises: a sensor unit which detects the surrounding environment of a vehicle; a control unit which calculates a parking path to move the vehicle to a parking space while receiving a measurement value from the sensor unit; and a protrusion unit which protrudes toward the outside of the vehicle and is folded toward the vehicle by being operated by a control signal of the control unit. The control unit calculates whether the protrusion unit collides based on the measurement value of the sensor unit and controls movement of the protrusion unit. The remote automatic parking apparatus prevents damage of a side mirror due to collision with an adjacent object.

Description

Remote automatic parking device {REMOTE AUTOMATIC PARKING DEVICE }

The present invention relates to a remote automatic parking apparatus, and more particularly, to a remote automatic parking apparatus capable of controlling the folding of a side mirror of a vehicle that is remotely automatically parked.

A vehicle is a device that moves a user in a desired direction. A typical example is a car.

Recently, research and development on a vehicle parking system has been actively conducted.

Smart Parking Assist System (SPAS) is a technology that helps to park in a row in reverse by recognizing a parking space using various sensors such as ultrasonic sensors, wheel sensors, and steering angle sensors and then automating the steering operation of the vehicle.

When the driver puts the gear in D and presses the SPAS switch, the parking assist system is activated. After that, the driver selects the desired parking mode with the switch. Then, the vehicle searches for an empty parking space in the mode selected by the driver using the ultrasonic sensor while going straight and outputs a reverse gear shift message along with a search end message when a parking space is found. The vehicle then switches to the control mode for parking, and the driver is only responsible for brake and gear operation.

Recently, research and development on a parking system in which a vehicle autonomously parks beyond a parking system that assists a driver's parking has been conducted.

In the related art, there is a problem in that the side mirror of the vehicle collides with an object to be measured adjacent to the parking path and is damaged during automatic parking of the vehicle. Therefore, there is a need to improve it.

Background art of the present invention is disclosed in Korean Patent Application Laid-Open No. 10-2018-0088725 (published on Aug. 6, 2018, title of invention: autonomous parking method of a car with internal monitoring function, driver assistance system and automobile).

SUMMARY OF THE INVENTION It is an object of the present invention to provide a remote automatic parking device capable of preventing a side mirror of a vehicle from being damaged by colliding with an object installed adjacent to a parking path during automatic parking of the vehicle.

Another object of the present invention is to provide a remote automatic parking device capable of stably automatically parking a vehicle after a driver gets off the vehicle.

The objects of the present invention are not limited to the above-mentioned objects, and other objects and advantages of the present invention not mentioned may be understood by the following description, and will be more clearly understood by the examples of the present invention. Moreover, it will be readily apparent that the objects and advantages of the present invention may be realized by the means and combinations thereof indicated in the claims.

The remote automatic parking device according to the present invention includes a sensor unit that detects a surrounding environment of a vehicle, a control unit that receives the measurement value of the sensor unit and calculates a parking path for moving the vehicle to a parking space, and the control unit that protrudes outside the vehicle The projection includes a protrusion that is operated by a control signal of , and is folded in a direction toward the vehicle, and the control unit may control the movement of the protrusion by calculating whether the protrusion collides based on a measurement value of the sensor unit.

In addition, the protrusion may include a side mirror installed on the outside of the vehicle.

In addition, the present invention may further include an occupant sensor for measuring whether a driver is inside the vehicle.

In addition, the control unit, based on the measurement value of the occupant detection unit, when the driver gets out of the vehicle, a first mode for finding a parking space for the vehicle based on the measurement value of the sensor unit, and a parking path for moving the vehicle to the parking space. At least one of the second mode and the third mode of moving the vehicle along the parking path may be executed.

Further, when the vehicle is operated in the third mode, the controller may determine whether there is a possibility that the protrusion may collide with an object to be measured facing the parking path, and may move the protrusion in a folding direction to the vehicle.

In addition, the object to be measured may include at least one of a building, a vehicle, a person, and an animal.

In addition, the control unit is connected to the vehicle remote control or the driver's mobile phone, and may notify the driver of the movement of the vehicle and the operating state of the control unit.

In the remote automatic parking apparatus according to the present invention, since the control unit for calculating the parking path moves the protrusion, it is possible to prevent the side mirror of the vehicle from being damaged by colliding with an object to be measured installed adjacent to the parking path during automatic parking of the vehicle.

In addition, according to the present invention, the occupant detection unit is operated to check the state that the driver has gotten out of the vehicle, and thereafter, automatic parking of the vehicle can be made stably, thereby reducing the possibility of injury to the driver.

In addition to the above-described effects, the specific effects of the present invention will be described together while describing specific details for carrying out the invention below.

1 is a plan view illustrating a state in which a vehicle having a remote automatic parking device is positioned in front of a parking space according to an embodiment of the present invention.
2 is a plan view illustrating a state in which the remote automatic parking device is operated and the vehicle is moved to a parking space according to an embodiment of the present invention.
3 is a plan view illustrating a state in which the protrusion is folded by the remote automatic parking device according to an embodiment of the present invention.
4 is a plan view illustrating a state in which parking of a vehicle is completed in a state in which the protrusion is folded according to an embodiment of the present invention.
5 is a plan view illustrating a state in which the protrusion is moved to the inside of the building in a folded state according to an embodiment of the present invention.
6 is a block diagram of a remote automatic parking apparatus according to an embodiment of the present invention.
7 is a flowchart of a remote automatic parking apparatus according to an embodiment of the present invention.

The above-described objects, features and advantages will be described below in detail with reference to the accompanying drawings, and accordingly, those of ordinary skill in the art to which the present invention pertains will be able to easily implement the technical idea of the present invention. In describing the present invention, if it is determined that a detailed description of a known technology related to the present invention may unnecessarily obscure the gist of the present invention, the detailed description will be omitted. Hereinafter, preferred embodiments according to the present invention will be described in detail with reference to the accompanying drawings. In the drawings, the same reference numerals are used to indicate the same or similar components.

Although the first, second, etc. are used to describe various elements, these elements are not limited by these terms, of course. These terms are only used to distinguish one component from other components, and unless otherwise stated, the first component may be the second component, of course.

In the following, that an arbitrary component is disposed on the "upper (or lower)" of a component or "upper (or below)" of a component means that any component is disposed in contact with the upper surface (or lower surface) of the component. Furthermore, it may mean that other components may be interposed between the component and any component disposed on (or under) the component.

Also, when it is described that a component is "connected", "coupled" or "connected" to another component, the components may be directly connected or connected to each other, but other components are "interposed" between each component. It is to be understood that “or, each component may be “connected,” “coupled,” or “connected” through another component.

Throughout the specification, unless otherwise stated, each element may be singular or plural.

As used herein, the singular expression includes the plural expression unless the context clearly dictates otherwise. In the present application, terms such as "consisting of" or "comprising" should not be construed as necessarily including all of the various components or various steps described in the specification, some of which components or some steps are It should be construed that it may not include, or may further include additional components or steps.

Throughout the specification, when “A and/or B” is used, it means A, B or A and B, unless specifically stated to the contrary, and when “C to D” is used, it means that there is no specific contrary description. Unless otherwise specified, it means that it is greater than or equal to C and less than or equal to D.

Hereinafter, a remote automatic parking device according to an embodiment of the present invention will be described.

1 is a plan view illustrating a state in which a vehicle equipped with a remote automatic parking apparatus is positioned in front of a parking space according to an embodiment of the present invention, and FIG. 6 is a remote automatic parking apparatus according to an embodiment of the present invention. It is a block diagram.

As shown in FIGS. 1 and 6 , the remote automatic parking device 1 according to an embodiment of the present invention includes a sensor unit 50 for detecting the surrounding environment of a vehicle 10 , and a sensor unit 50 . The control unit 60, which calculates the parking path 30 for moving the vehicle 10 to the parking space 20, and the vehicle 10 while receiving the measurement value of It may include a protrusion 70 that is operated by the vehicle 10 and is folded in a direction toward the vehicle 10 . In addition, the remote automatic parking apparatus 1 according to an embodiment of the present invention may further include an occupant detection unit 80 and a display unit 90 .

The parking space 20 refers to a space in which the vehicle 10 can park in automatic parking, and may be a space facing the measurement target 40 .

The measurement target 40 may include at least one of a building, a vehicle, a person, and an animal. In addition, the measurement target 40 may be an object located around a road and fixed to the ground. For example, the measurement target 40 may include a parked vehicle 10 , a street lamp, a street tree, a building, a power pole, a traffic light, and a bridge.

The sensor unit 50 may be subjected to various modifications within the technical concept of sensing the surrounding environment of the vehicle 10 . The sensor unit 50 according to an embodiment of the present invention may detect an empty parking space 20 that can be parked by scanning around the vehicle 10 , and the empty parking space 20 is the target parking space 20 . ), the control unit 60 may provide information necessary for designing the parking path 30 by detecting the measurement target 40 between the target parking space 20 and the vehicle 10 .

The sensor unit 50 may include at least one of a distance sensor that detects the position of the object 40 located around the vehicle 10 and a camera that acquires an image by photographing the surroundings of the vehicle 10 . .

[Distance sensor]

In the vehicle 10 for automatic parking, the distance sensor detects the position of the measurement target 40, the direction in which the measurement target 40 is spaced apart, the separation distance between the measurement target 40 and the vehicle 10, and the like. can be accurately detected. This distance sensor continuously measures the position with the detected object 40 to detect a change in the positional relationship between the vehicle 10 and the parking space 20 and the object 40. have.

Such a distance sensor may detect at least one of the target object 40 and the parking space 20 located in at least one area of the front, rear, left, and right of the vehicle 10 . To this end, the distance sensor may be disposed at various positions of the vehicle 10 . The distance sensor may be disposed at at least one of front, rear, left, right, and ceiling of the body of the vehicle 10 .

In addition, the distance sensor may include one or more of various distance measuring sensors, such as a lidar sensor, a laser sensor, an ultrasonic wave sensor, and a stereo camera.

For example, the distance sensor is a laser sensor, and uses a time-of-flight (TOF) or phase-shift method according to a laser signal modulation method using the vehicle 10 and the object to be measured. (40) can accurately measure the positional relationship between

[Lidar]

The lidar may include a laser transmitter and a receiver. The lidar may be implemented in a time of flight (TOF) method or a phase-shift method.

Lidar can be implemented as driven or non-driven. When implemented as a driving type, the lidar is rotated by a motor and may detect the object 40 around the vehicle 10 .

When implemented as a non-driven type, the lidar may detect the target object 40 positioned within a predetermined range with respect to the vehicle 10 by light steering. Vehicle 10 may include a plurality of non-driven lidars.

The lidar detects the target object 40 based on a time of flight (TOF) method or a phase-shift method by means of a laser light, and the detected position of the measurement object 40; It is possible to detect a distance and a relative speed with respect to the detected object 40 .

The lidar may be disposed at an appropriate location outside of the vehicle 10 to detect the object 40 located in front, rear or side of the vehicle 10 .

[Radar]

The radar may include an electromagnetic wave transmitter and a receiver. The radar may be implemented in a pulse radar method or a continuous wave radar method in terms of a radio wave emission principle. The radar may be implemented as a frequency modulated continuous wave (FMCW) method or a frequency shift keying (FSK) method according to a signal waveform among continuous wave radar methods.

The radar detects the target object 40 based on a time of flight (TOF) method or a phase-shift method using an electromagnetic wave as a medium, and the position of the detected object 40, the detected It is possible to detect a distance and a relative speed with respect to the target object 40 .

The radar may be disposed at an appropriate location outside of the vehicle 10 to detect the object 40 located in front, rear or side of the vehicle 10 .

[ultrasonic sensor]

The ultrasonic sensor may include an ultrasonic transmitter and a receiver. The ultrasonic sensor may detect the object to be measured 40 based on ultrasonic waves, and may detect the detected position of the object 40 , the distance to the detected object 40 , and relative speed.

The ultrasonic sensor may be disposed at an appropriate position outside of the vehicle 10 to detect the object 40 located in front, rear or side of the vehicle 10 .

[Infrared sensor]

The infrared sensor may include an infrared transmitter and a receiver. The infrared sensor may detect the object to be measured 40 based on the infrared light, and may detect the detected position of the object 40 , a distance from the detected object 40 and a relative speed.

The infrared sensor may be disposed at an appropriate location outside the vehicle 10 to detect the object 40 located in front, rear or side of the vehicle 10 .

[camera]

The camera may be located at an appropriate place outside the vehicle 10 in order to acquire an image outside the vehicle 10 . The camera may be a mono camera, a stereo camera, an AVM (Around View Monitoring) camera, or a 360 degree camera.

Such a camera may acquire position information of the target object 40 , distance information with respect to the target object 40 , or relative speed information with the target object 40 by using various image processing algorithms.

For example, the camera may acquire distance information and relative speed information with respect to the object 40 based on a change in the size of the object 40 over time from the acquired image. In addition, the camera may acquire distance information and relative speed information of the target object 40 through a pinhole model, road surface profiling, or the like.

The plurality of cameras may be respectively disposed at at least one of a left, a rear, a right, a front, and a ceiling of the vehicle 10 , respectively.

For example, the left camera may be disposed in a case surrounding the left side mirror unit 72 . Alternatively, the left camera may be disposed outside the case surrounding the left side mirror unit 72 . Alternatively, the left camera may be disposed in an area outside the left front door, left rear door, or left fender.

In addition, the right camera may be disposed in a case surrounding the right side mirror unit 72 . Alternatively, the right camera may be disposed outside the case surrounding the right side mirror unit 72 . Alternatively, the right camera may be disposed in an area outside the right front door, right rear door, or right fendere.

The rear camera may be located near the rear license plate or trunk switch. The front camera may be placed near the emblem or near the radiator grill. The ceiling camera may be disposed on the ceiling of the vehicle 10 to photograph both the front, rear, left, and right directions of the vehicle 10 .

Such a camera may directly include an image sensor and an image processing module. The camera can process still images or moving images obtained by an image sensor (eg, CMOS or CCD). In addition, the image processing module may process a still image or a moving image obtained through the image sensor, extract necessary image information, and transmit the extracted image information to the controller 60 .

For example, in order to acquire an image of the front of the vehicle 10 , the camera may be disposed adjacent to the front windshield in the interior of the vehicle 10 . Alternatively, the camera may be disposed around the front bumper or radiator grill. Alternatively, the camera may be disposed adjacent to the rear glass in the interior of the vehicle 10 in order to acquire an image of the rear of the vehicle 10 . Alternatively, the camera may be disposed around the rear bumper, trunk or tailgate.

In addition, the camera may be disposed adjacent to at least one of the side windows in the interior of the vehicle 10 in order to acquire an image of the side of the vehicle 10 . Alternatively, the camera may be disposed around a side mirror, a fender or a door. In addition, the camera may provide the acquired image to the controller 60 .

The control unit 60 receives the measurement value of the sensor unit 50 , and various modifications are possible within the technical idea of calculating the parking path 30 for the vehicle 10 to move to the parking space 20 . In addition, the control unit 60 is connected to the vehicle 10 remote control or the driver's mobile phone, and can notify the driver of the movement of the vehicle 10 and the operating state of the control unit 60 .

The controller 60 according to an embodiment of the present invention may control the movement of the protrusion 70 by calculating whether the protrusion 70 collides based on the measured value of the sensor unit 50 .

In addition, the control unit 60, based on the measurement value of the occupant detection unit 80, when the driver gets off the vehicle 10, based on the measurement value of the sensor unit 50, the parking space 20 of the vehicle 10 A first mode for finding , a second mode for calculating the parking path 30 for moving the vehicle 10 to the parking space 20, and a third mode for moving the vehicle 10 along the parking path 30 At least one of the modes can be executed.

The driver included in the occupant is in the vehicle 10 or gets off the vehicle 10 and performs automatic parking of the vehicle 10 through the remote controller. When the automatic parking command is input, the remote automatic parking apparatus 1 sequentially executes the first mode, the second mode, and the third mode.

And the control unit 60, when the vehicle 10 is operated in the third mode, the protrusion 70 determines whether there is a possibility of a collision with the measurement target 40 facing the parking path 30, the vehicle ( 10), it is possible to move the protrusion 70 in the folding direction.

Meanwhile, the controller 60 may provide an around-view image of the vehicle 10 viewed from the top view by synthesizing the images taken from all directions. When generating an around-view image, a boundary portion between each image area is generated. Such a boundary portion may be naturally displayed by image blending. In addition, the controller 60 may control the overall operation of each unit of the remote automatic parking device 1 .

Meanwhile, the control unit 60 may detect or classify the measurement target 40 by comparing the data sensed by the distance sensor and the camera using the radar, lidar, ultrasonic sensor, and infrared sensor with pre-stored data. have.

The controller 60 may detect and track the measurement target 40 based on the acquired image. Also, the controller 60 may calculate the distance to the object 40 through an image processing algorithm.

The control unit 60 may detect and track the measurement target 40 based on the reflected electromagnetic wave reflected by the measurement target 40 and returned. The control unit 60 may calculate the distance to the measurement target 40 based on the electromagnetic wave.

In addition, the control unit 60 can detect and track the measurement target 40 based on the reflected laser light reflected back by the transmitted laser by the measurement target 40 . In addition, the controller 60 may detect and track the object 40 based on the reflected ultrasonic waves reflected back by the transmitted ultrasonic waves by the object 40 . In addition, the control unit 60 can detect and track the measurement target 40 based on the reflected infrared light reflected by the transmitted infrared light to the measurement target 40 and returned.

The protrusion 70 protrudes to the outside of the vehicle 10 and is operated by a control signal of the control unit 60 to be folded in the direction toward the vehicle 10 , and various modifications can be made within the technical idea. The protrusion 70 according to an embodiment of the present invention may include a side mirror unit 72 installed on the outside of the vehicle 10 . In addition, the sensor unit 50 may be installed in the side mirror unit 72 . For example, since the sensor unit 50 is installed in the case of the side mirror unit 72 , the size and shape of the parking space 20 can be measured together with other sensor units 50 installed in the vehicle 10 . . In addition, the side mirror unit 72 has a built-in driving motor operated by the control signal of the control unit 60 , and the folding operation of the side mirror unit 72 may be automatically performed by the operation of the driving motor.

In addition, the present invention may further include an occupant detection unit 80 that measures whether or not a driver is inside the vehicle 10 . By the occupant detecting unit 80 , the occupant detects whether the driver and living things such as children and pets are inside the vehicle 10 .

For example, the occupant detection unit 80 may be formed as a seat occupancy sensor. Accordingly, it is possible to measure whether the living organism is on at least one of the seats of the vehicle 10 . In addition, the occupant detection unit 80 may be configured to inspect the seat belt in the vehicle 10 . For example, if the seat belt is locked, it may be assumed that the creature is in the seat belt and associated seat. In addition, the occupant sensing unit 80 may be configured to acquire a temperature inside the vehicle 10 or within the seat area. In addition, the occupant detection unit 80 may be directly disposed on at least one of the seat belts. Here, the occupant sensor 80 may be configured to recognize respiration, pulse, or heat generated by a living organism. Whether a living creature, eg, an animal, is in the trunk of the vehicle 10 may also be checked by the occupant sensor 80 . For example, whether a child is in a child car seat of the vehicle 10 may be checked by the occupant detection unit 80 . The occupant detection unit 80 includes a measurement camera, and image data inside the vehicle 10 may be provided by the measurement camera.

The control unit 60 receives sensor data from at least one occupant detection unit 80 . Before performing the automatic parking, a check is made by the control unit 60 based on the internal data whether a living organism is inside the vehicle 10 . If the living organism is inside the vehicle 10 before performing the automatic parking, this may be warned and the automatic parking of the vehicle 10 may not be performed.

Accordingly, the vehicle 10 does not move along the parking path 30 . In this case, a corresponding warning signal may be additionally output by the control unit 60 . This warning signal may be transmitted to an operating device outside the vehicle 10 by a control signal to the controller 60 . Accordingly, the warning signal may be output by an operating device external to the vehicle 10 . Accordingly, the driver knows that the automatic parking operation is not performed because the living being is inside the vehicle 10 . In this way, it is possible to prevent the phenomenon that the living organism remains inside the vehicle 10 before the vehicle 10 is moved to the automatic parking.

[display unit]

The remote automatic parking apparatus 1 according to an embodiment of the present invention may further include a display unit 90 for displaying a graphic image related to an automatic parking assistance function. In one embodiment of the present invention, the display unit 90 may display the parking space 20 in the vicinity of the vehicle 10 as a graphic image. In addition, the display unit 90 may provide a graphic user interface such as a screen in order for the user to set the target parking space 20 . In addition, when the vehicle 10 follows the parking path 30 , the display unit 90 displays images around the vehicle 10 and other factors (eg, vehicle 10 speed, steering operation value, predicted parking path 30 ). ), etc.) may be displayed to assist the user to check whether the vehicle 10 is safely parked.

The display unit 90 may be installed in at least one of the inside of the vehicle 10 and the remote control unit wirelessly connected to the vehicle 10 . In addition, the remote control unit may be at least one of a vehicle 10 remote control, a mobile phone, and a dedicated terminal device.

Hereinafter, the operating state of the remote automatic parking device 1 according to an embodiment of the present invention will be described in detail with reference to the accompanying drawings.

2 is a plan view illustrating a state in which the remote automatic parking device 1 is operated and the vehicle 10 is moved to the parking space 20 according to an embodiment of the present invention.

As shown in FIG. 2 , the vehicle 10 may be automatically parked in the parking space 20 without a user's manipulation. The automatic parking of the vehicle 10 may be finally performed after manual driving of the vehicle 10 by the user. Alternatively, all driving of the vehicle 10 may be performed without a user's manipulation, and the autonomous driving of the vehicle 10 may be generally defined as autonomous driving. Therefore, considering that it does not require a user's operation, automatic parking may also be defined as autonomous parking, and may be performed as a part of overall autonomous driving. However, while automatic parking is being performed, the surrounding environment and parking conditions change in real time, and for more efficient parking close to manual parking, automatic parking needs to be controlled in detail so that it can actively cope with the changed environment and conditions. .

In order to set the target parking space 20 , parking may be instructed to the vehicle 10 first. That is, the vehicle 10 may receive a parking instruction from the outside. The parking instruction command may be given while the vehicle 10 is driven by autonomous driving or driving by manual driving, and may be given simultaneously with or before starting driving. Alternatively, the user may instruct the vehicle 10 to park using the user interface device. For example, when the user boards the vehicle 10 to instruct parking, an interface device in the vehicle 10 may be used, and when the user is outside the vehicle 10, an interface device implemented as a portable terminal may be used. may be

If the parking space 20 is not designated, the vehicle 10 may search for an available parking space 20 . More specifically, when the parking space 20 cannot be designated by the user or the vehicle 10, for example, when there is no dedicated parking space 20 or other identified empty space, the available parking space 20 ) may be performed by the vehicle 10 . In addition, even when the parking space 20 can be designated, the search of the parking space 20 can be directed and performed to search for a better parking space 20 . Through such a search, the immediately available parking space 20 may be detected and may be set as the target parking space 20 .

When the vehicle 10 reaches the vicinity of the set target parking space 20, automatic parking may start, and the vehicle 10 may sense the surrounding environment to perform such automatic parking.

The vehicle 10 may sense the parking space 20 and its surrounding environment by using the sensor unit 50 , and for this purpose, a device for detecting the object 40 may be used as the sensor unit 50 . For example, an obstacle around the parking space 20 , the arrangement of other parking spaces 20 around the parking space 20 , a lane around the parking space 20 , etc. may be detected, and also the parking space 20 . Its size, orientation, etc. can also be sensed. In addition, information on the state of the vehicle 10 , that is, the current position, speed, and steering, etc., is also transmitted to the controller 60 for accurate automatic parking.

7 is a flowchart of the remote automatic parking apparatus 1 according to an embodiment of the present invention.

On the other hand, as shown in FIGS. 1, 6, and 7 , when the vehicle 10 arrives in front of the parking space 20 or near the parking space 20 , the occupants including the driver are in the vehicle 10 . and the driver inputs an automatic parking command of the vehicle 10 . At this time, the control unit 60 has a step of determining whether the remote automatic parking mode by determining the input signal. (S10)

When the operation is performed in the remote automatic parking mode, the control unit 60 has a step of calculating the parking path 30 based on the measurement value of the sensor unit 50 (S20).

Then, the control unit 60 calculates whether the protrusion 70 provided in the vehicle 10 moving along the parking path 30 can be damaged by colliding with another object 40 to be measured. (S30)

3 is a plan view illustrating a state in which the protrusion 70 is folded by the remote automatic parking device 1 according to an embodiment of the present invention.

As shown in FIGS. 3 and 7 , when it is determined that the protrusion 70 collides with another object 40 to be measured, the side mirror unit 72 provided on the protrusion 70 according to a control signal from the control unit 60 . ) has a folding step of the protrusion 70 in which the protrusion 70 is folded in a direction toward the vehicle 10 . (S40) In this case, the measurement target 40 may be the parked vehicle 10 .

5 is a plan view illustrating a state in which the protrusion 70 is moved to the inside of a building in a folded state according to an embodiment of the present invention.

Alternatively, as shown in FIG. 5 , it may be a case where the object 40 is a building, and if there is a possibility that the side mirror unit 72 will collide with the building, after folding the side mirror unit 72 . Automatic weighting of the vehicle 10 is made.

4 is a plan view illustrating a state in which parking of the vehicle 10 is completed in a state in which the protrusion 70 is folded according to an embodiment of the present invention.

As shown in FIGS. 4 and 7, if there is a high possibility that the protrusion 70 will collide during automatic parking, the protrusion 70 is folded and then the parking movement step is performed in which parking is made in the parking space 20. (S50)

As described above, according to the present invention, since the control unit 60 that calculates the parking path 30 moves the protrusion 70 , the side mirror of the vehicle 10 is automatically parked in the parking path 30 during automatic parking of the vehicle 10 . ), it is possible to prevent damage by colliding with the measured object 40 installed adjacent to it. In addition, the occupant detection unit 80 is operated to check the state in which the driver got off the vehicle 10 , and thereafter, automatic parking of the vehicle 10 can be stably performed, thereby reducing the possibility of injury to the driver.

As described above, the present invention has been described with reference to the illustrated drawings, but the present invention is not limited by the embodiments and drawings disclosed in the present specification. It is obvious that variations can be made. In addition, although the effects according to the configuration of the present invention are not explicitly described and described while describing the embodiments of the present invention, it is natural that the effects predictable by the configuration should also be recognized.

1: Remote automatic parking device
10: Vehicle 20: Parking space 30: Parking path 40, 41: Object to be measured
50: sensor unit
60: control unit
70: protrusion 72: side mirror unit
80: occupant detection unit
90: display unit
S10: Determination of remote automatic parking mode
S20: Calculate parking route
S30: Determination of whether the protrusion collides
S40: Protrusion folding action
S50: Parking movement

Claims (7)

a sensor unit for sensing the surrounding environment of the vehicle;
a control unit receiving the measurement value of the sensor unit and calculating a parking path for the vehicle to move to a parking space;
a protrusion protruding to the outside of the vehicle and operated by a control signal of the controller to be folded in a direction toward the vehicle; and
It includes a;
The protrusion includes a side mirror part installed on the outside of the vehicle,
The occupant detection unit includes a measurement camera that provides image data inside the vehicle,
The control unit receives data from the occupant detection unit, and before performing automatic parking, if a living organism is inside the vehicle, warns the driver and controls the automatic parking of the vehicle not to be performed,
The control unit includes a first mode for finding a parking space for the vehicle based on the measurement value of the sensor unit when the driver gets off the vehicle based on the measured value of the occupant detection unit, and parking for moving the vehicle to the parking space. A second mode for calculating a route and a third mode for moving the vehicle along the parking route are executed,
The control unit calculates whether the protrusion collides based on the measured value of the sensor unit to control the movement of the protrusion.
delete delete delete According to claim 1,
When the vehicle is operated in the third mode, the control unit determines whether the protrusion is likely to collide with an object to be measured facing the parking path when the vehicle is operated in the third mode, and moves the protrusion in a folding direction to the vehicle. parking device.
6. The method of claim 5,
The object to be measured is a remote automatic parking device including at least one of a building, a car, a person, and an animal.
According to claim 1,
The control unit is connected to the vehicle remote control or the driver's mobile phone, the remote automatic parking device for notifying the driver of the movement of the vehicle and the operating state of the control unit.

Images