KR102317542B1 - Apparatus for selecting parking mode and method thereof - Google Patents

Abstract

The present invention relates to whether the first condition in which the vehicle is stopped based on the speed of the vehicle and a sensing unit for sensing at least one of the speed of the vehicle, the position of the vehicle, the distance between both rear sides of the vehicle, and the distance between both sides of the vehicle in front of the vehicle, Whether the vehicle's position corresponds to the second condition, which is different from the previously entered position, whether the vehicle's rear-side distance corresponds to the third condition, which is less than or equal to the rear-side critical distance, and whether the front-to-side distance exceeds the front-side threshold distance. A first parking mode that searches for a parking space based on a determination unit that determines at least one of 4 conditions and a result of the determination unit and parks the vehicle in the searched parking space, parking the vehicle based on the rear side distance The present invention relates to a parking mode selection device including a selection unit for selecting one of the second parking mode and the third parking mode for parking the vehicle when the location of the vehicle matches the stored location.

Description

Parking mode selection device and parking mode selection method {APPARATUS FOR SELECTING PARKING MODE AND METHOD THEREOF}

The present invention relates to a technology for selecting a parking mode of a vehicle.

In general, the number of vehicles increased due to the improvement of living standards and income increase of urban workers.

However, due to the lack of parking space compared to the increase of vehicles, many people suffer from parking difficulties, and the provided parking space is also becoming narrower.

According to this situation, vehicle drivers not only have difficulty finding a parking space, but also have a lot of difficulty in parking even if an empty parking space is provided.

Accordingly, many technologies for assisting parking of a vehicle, such as a smart parking assistance system (SPAS), have been developed, and more technologies will be developed.

Many of the developed parking assist technologies have different applicable situations, and even if the applicable situations overlap, the parking speed may be different.

However, the driver of the vehicle lacks a lot of knowledge about what situations each of the developed parking assist technologies can be applied to, and which parking assist technology will perform parking faster in a situation where two or more parking assist technologies can be applied. There is a problem that the parking assist technologies that have been developed cannot be used in the right place.

This problem can be solved if only a vehicle can be parked by selecting a suitable parking assist technology to be applied to the current situation based on information on a situation to which the developed parking assist technologies can be applied.

However, a technology for recognizing the surrounding environment of a vehicle to select and park a preferred one of two or more parking assist technologies has not been developed.

Against this background, an object of the present invention is, in one aspect, to provide a technology for parking a vehicle by selecting a preferred parking assistance technology based on the surrounding environment of the vehicle.

In one aspect, the present invention provides a first condition in which the vehicle is stopped based on the speed of the vehicle and a sensor for sensing at least one of the speed of the vehicle, the position of the vehicle, the distance to both sides of the rear of the vehicle, and the distance to both sides of the vehicle in front of the vehicle. Whether the vehicle's position corresponds to the second condition, which is different from the previously entered position, whether the vehicle's rear side distance corresponds to the third condition where the rear side distance is less than or equal to the rear side side threshold distance, and the front side distance is the front side threshold Based on the first parking mode for searching for a parking space and parking the vehicle in the searched parking space based on the result of the determination unit and the determination unit determining at least one of whether or not the fourth condition is exceeded, based on the distance between the rear sides Provided is a parking mode selection device including a selection unit for selecting one of the second parking mode for parking the vehicle and the third parking mode for parking the vehicle when the location of the vehicle matches the stored location.

In another aspect, based on the sensing step of detecting at least one of the speed of the vehicle, the position of the vehicle, the distance to both sides of the vehicle, and the distance to both sides of the vehicle, the first condition in which the vehicle is stopped based on the speed, Whether the vehicle position corresponds to the second condition different from the previously entered position, whether the rear bilateral distance corresponds to the third condition in which the rear bilateral distance is less than or equal to the rear bilateral critical distance, and corresponds to the fourth condition in which the front bilateral distance exceeds the front bilateral critical distance A first parking mode that searches for a parking space based on the result of the determination step and the determination step of determining at least one of whether or not It provides a parking mode selection method including a selection step of selecting one of the second parking mode and the third parking mode for parking the vehicle when the location of the vehicle matches the stored location.

As described above, according to the present invention, it is possible to provide a technology for recognizing the surrounding environment of a vehicle and selecting a preferred parking assist technology to park the vehicle.

1A is a view showing an example for explaining the operation of the first parking mode selected by the parking mode selection device of the present invention.
1B is a view showing an example for explaining the operation of the second parking mode selected by the parking mode selection device of the present invention.
1C is a view showing an example for explaining the operation of the third parking mode selected by the parking mode selection device of the present invention.
2 is a diagram showing the configuration of a parking mode selection device according to an embodiment of the present invention.
3 is a view showing an example for explaining the operation of the parking mode selection device according to an embodiment of the present invention.
4 is a view showing an example for explaining the operation of the parking mode selection device according to another embodiment of the present invention.
5 is a diagram illustrating a flowchart of a method for selecting a parking mode according to an embodiment of the present invention.

Hereinafter, some embodiments of the present invention will be described in detail with reference to exemplary drawings. In adding reference numerals to components of each drawing, the same components may have the same reference numerals as much as possible even though they are indicated in different drawings. In addition, in describing the present invention, if it is determined that a detailed description of a related known configuration or function may obscure the gist of the present invention, the detailed description may be omitted.

In addition, in describing the components of the present invention, terms such as first, second, A, B, (a), (b), etc. may be used. These terms are only for distinguishing the elements from other elements, and the essence, order, order, or number of the elements are not limited by the terms. When it is described that a component is “connected”, “coupled” or “connected” to another component, the component may be directly connected or connected to the other component, but other components may be interposed between each component. It will be understood that each component may be “interposed” or “connected”, “coupled” or “connected” through another component.

1A is a view showing an example for explaining the operation of the first parking mode selected by the parking mode selection device of the present invention, and FIG. 1B is the operation of the second parking mode selected by the parking mode selection device of the present invention. 1C is a diagram illustrating an example for explaining the operation of the third parking mode selected by the parking mode selection device of the present invention.

Referring to FIG. 1A , in the first parking mode, a front area 113a is sensed using an ultrasonic sensor mounted on the own vehicle 110a, and other vehicles 120a and 130a included in the area 113a are detected. ), and may include a SPAS (Smart Parking Assistance System) mode for parking 140a of the own vehicle 110a in the detected parking space.

For example, in the first parking mode, the own vehicle 110a creates a path for moving to a parking space between other vehicles 120a and 130a detected by the ultrasonic sensor, and moves according to the generated path to park ( 140a), the steering wheel, the transmission, the accelerator pedal, and the brake pedal of the host vehicle 110a may be controlled.

Referring to FIG. 1B , the second parking mode detects one other area 113b and 114b on both rear sides using an ultrasonic sensor mounted on the own vehicle 110b, and is included in the other one area 113b and 114b. It detects the distance to the other vehicle (120b, 130b), and based on the detected distance to the other vehicle (120b, 130b) to include a quick (Quick) mode for parking (140b) the own vehicle (110b) have.

For example, in the second parking mode, the host vehicle 110b in a stationary state is parked without colliding with other vehicles 120b and 130b based on the distance from the other vehicles 120b and 130b detected by the ultrasonic sensor. It is possible to generate a path for the purpose and control a steering wheel, a transmission, an accelerator pedal, and a brake pedal of the host vehicle 110b to move according to the generated path.

As shown in FIG. 1B , the second parking mode may be operated by sensing the distance between the rear sides, but is not limited thereto. That is, the second parking mode may be operated by sensing the distance from both sides of the front side so that it can be applied to the front parking instead of the rear parking.

The second parking mode is a mode operated after partially entering the own vehicle 110b into a parking space, and may be useful in a situation where an experienced driver parks the vehicle in a complex parking lot or a parking lot of a mart.

Referring to FIG. 1C , the third parking mode detects the position of the own vehicle 110c using a position detection device including a global positioning system (GPS) mounted on the own vehicle 110c, and in advance It may include a garage mode for parking (130c) the own vehicle (110c) in the parking space (120c) based on the input position.

For example, in the third parking mode, in a state in which information about a location (coordinate) separated from the parking space 120c by a predetermined distance 113c 114c and information about the surrounding environment is input in advance, the stationary vehicle 110c detects the location. When the location of the own vehicle 110c sensed from the device matches the pre-input location, a path for parking is generated based on the pre-entered information about the surrounding environment, and the own vehicle 110c moves according to the generated path. can control the steering wheel, transmission, accelerator pedal and brake pedal of The pre-inputted location of the host vehicle 110c may be one or more location points, one or more location lines, and one or more location areas.

The third parking mode is a mode operated after moving the own vehicle 110c to a previously input position, and may be useful to a driver having a fixed parking space regardless of driving skill.

Comparing the time taken to perform parking and the utilization aspects to which parking can be applied for the first parking mode, the second parking mode, and the third parking mode described above, if summarized as upper, middle, and lower, it can be as shown in Table 1 below. have.

parking speed utilization 1st mode under Prize 2nd mode Prize under 3rd mode middle middle

In Table 1, in the parking speed, the expression "medium" means a relatively medium parking speed, the expression "upper" means the parking speed is faster than that of "medium", and the expression "low" means " It may mean that the parking speed is slower than "medium". In addition, in terms of utilization, the expression of "lower" means that there are few applicable situations, the expression of "medium" means that there are more situations that can be applied than "lower", and the expression of "high" means "medium" “It could mean that there are more situations where it can be applied.

Referring to Table 1, if it is not a situation in which parking is possible by applying only one mode, it may be preferable to select and park the vehicle in a high parking speed mode.

For example, in a situation where parking is possible by applying the first mode and the second mode, it may be preferable to park the vehicle by operating in the second mode. For another example, in a situation where parking is possible by applying the first mode and the third mode, it may be preferable to park the vehicle by operating in the third mode. As another example, in a situation where parking is possible by applying the second mode and the third mode, it may be desirable to park the vehicle by operating in the second mode. On the other hand, in a situation where parking is possible by applying all of the first mode, the second mode, and the third mode, it may be preferable to park the vehicle by operating in the second mode.

Hereinafter, the present invention detects a surrounding situation, determines whether one or more conditions are satisfied based on the sensed surrounding situation, and automatically selects one of the first mode, the second mode, and the third mode according to this of the parking mode selection device will be described in detail.

2 is a diagram showing the configuration of a parking mode selection device according to an embodiment of the present invention.

Referring to FIG. 2 , the parking mode selection device 200 according to an embodiment of the present invention includes a sensing unit ( 210) and whether the vehicle corresponds to the first condition in which the vehicle is stopped based on the detected vehicle speed, whether the detected vehicle position corresponds to the second condition in which the vehicle is in a state different from the previously input position, The determination unit 220 and the determination unit for judging at least one of whether the rear bilateral distance corresponds to the third condition in which the rear bilateral distance is less than or equal to the rear bilateral critical distance and whether the detected forward bilateral distance corresponds to the fourth condition in which the forward bilateral critical distance exceeds the forward bilateral critical distance A first parking mode in which a parking space is searched based on the result of the unit 220 and a vehicle is parked in the searched parking space, a second parking mode in which the vehicle is parked based on the detected distance to both sides of the rear, and the detected position of the vehicle may include a selection unit 230 that selects one of the third parking modes for parking the vehicle when it matches the stored location.

For example, the sensing unit 210 detects the speed of the vehicle using a speed sensor, detects the location of the vehicle using a global positioning system (GPS), and uses an ultrasonic sensor to detect objects located on both rear sides. It is possible to sense the distance between the rear and both sides of the front and the distance between the front and both sides of the object, but is not limited thereto, and may be detected using any other device or may be received using a communication device.

For example, if the speed of the vehicle detected by the detection unit 210 is 0, the determination unit 220 determines that the vehicle is in a stopped state and corresponds to the first condition, and If the location does not match the previously input location, it may be determined that the second condition is satisfied.

In addition, the determination unit 220 determines that the third condition is satisfied if the distance between the front sides of the vehicle detected by the detection unit 210 is less than or equal to the preset threshold distance for both sides of the rear side, and the front sides detected by the detection unit 210 . When the distance exceeds a preset threshold distance on both sides of the front, it may be determined that the fourth condition is satisfied.

If there are no objects on both sides of the front, the distance between the front sides detected by the sensing unit 210 may not exist. In this situation, the determination unit 220 may determine that the fourth condition is satisfied.

The selection unit 230 may select the second parking mode when the determination unit 220 determines that all of the first condition, the second condition, the third condition, and the fourth condition are satisfied.

In contrast, the selection unit 230 determines that the determination unit 220 does not correspond to the first condition, or corresponds to the first condition and the second condition but does not correspond to at least one of the third condition and the fourth condition. If it is determined that the first parking mode can be selected.

In addition, the selection unit 230 may select the third parking mode when it is determined that the determination unit 220 corresponds to the first condition and does not correspond to the second condition.

As described above, the parking mode selection device 200 according to an embodiment of the present invention has a sensing unit 210 that detects at least one of a vehicle speed, a vehicle position, a distance between the rear sides of the vehicle, and a distance between both sides of the vehicle. ) and the detected vehicle speed, whether the vehicle corresponds to the first condition in which the vehicle is stopped A determination unit 220 and the determination unit for judging at least one of whether the bilateral distance corresponds to the third condition in which the front bilateral distance is less than or equal to the threshold distance to the rear and whether the sensed front bilateral distance corresponds to the fourth condition in which the front bilateral critical distance exceeds the threshold distance Based on the result of (220), the first parking mode searches for a parking space and parks the vehicle in the searched parking space, the second parking mode that parks the vehicle based on the detected distance to both sides of the rear, and the detected position of the vehicle By including a selection unit 230 that selects one of the third parking modes for parking the vehicle when it matches the stored location, it detects the surrounding situation and determines whether it corresponds to one or more conditions based on the sensed surrounding situation, and accordingly It is possible to automatically select one of the mode 1, mode 2 and mode 3 which may be preferable.

The mentioned desirability may mean that the speed at which parking proceeds is high.

3 is a view showing an example for explaining the operation of the parking mode selection device according to an embodiment of the present invention.

Referring to FIG. 3 , the sensing unit of the parking mode selection device according to an embodiment of the present invention may detect the speed of the vehicle, the position of the vehicle, the distance between the rear sides of the vehicle, and the distance between the front sides of the vehicle ( S300 ).

For example, the sensing unit detects the speed of the vehicle using a speed sensor, detects the location of the vehicle using a global positioning system (GPS), and uses an ultrasonic sensor to measure the distance between objects located on both rear sides. It is possible to detect the distance on both sides of the rear and the distance on both sides of the front, which is the distance with objects located on both sides of the front. Alternatively, sensing may be performed using any other device, or other factors may be detected and the vehicle speed, vehicle position, rear lateral distance, and front lateral distance may be calculated based on the mechanism relationship. Alternatively, the speed of the vehicle, the position of the vehicle, the distance between both sides of the rear and the distance between the sides of the front side may be received using the communication device.

When step S300 is performed, the determination unit determines whether the vehicle corresponds to the first condition in which the vehicle is stopped based on the speed of the vehicle detected in step S300 ( S310 ).

For example, if the vehicle speed detected in step S300 is 0, it may be determined that the first condition is satisfied (S310).

If it is determined in step S310 that the first condition is not met (NO), the selection unit searches for a parking space and selects a first parking mode in which the vehicle is parked in the searched parking space (S350).

If it is determined in step S310 that it corresponds to the first condition (YES), the determination unit may further determine whether the position of the vehicle detected in step S300 corresponds to a second condition that is different from the previously input position (S320). ).

The pre-input location may include one or more points, one or more lines, or one or more areas.

If it is determined in step S320 that the second condition is not met (NO), the selection unit selects the third mode (S370).

If it is determined in step S320 that it corresponds to the second condition (YES), the determination unit may further determine whether the distance to both rear sides of the vehicle detected in step S300 corresponds to a third condition that is less than or equal to a preset threshold distance to both rear sides ( S330). The rear-side critical distance is a distance at which a rear-parked vehicle can avoid a collision with an object on both rear sides, and may be calculated based on experimental data, and may also vary depending on the driving angle.

If it is determined in step S330 that it corresponds to the third condition (YES), the determination unit may further determine whether the distance to both sides of the vehicle detected in step S300 corresponds to the fourth condition in which the threshold distance to both sides of the vehicle is greater than a preset threshold distance (S340). ). The threshold distance on both sides of the front is a distance at which a vehicle parked in the rear can avoid a collision with an object on both sides of the front, and may be calculated based on experimental data.

If it is determined that the third condition is not met (NO) in step S330 or does not correspond to the fourth condition (NO) in step S340, the selection unit selects the first parking mode (S350).

On the other hand, if it is determined that the third condition corresponds to (YES) in step S330 and corresponds to the fourth condition (YES) in step S340, the selection unit selects the second parking mode (S360).

As described above, by performing steps S300 to S370 of the parking mode selection device according to an embodiment of the present invention, it detects the surrounding situation and determines whether it corresponds to one or more conditions based on the sensed surrounding situation, and accordingly It is possible to automatically select one of the mode 1, mode 2 and mode 3 which may be preferable.

The desirability may mean that the speed of parking is fast.

The apparatus for selecting a parking mode according to an embodiment of the present invention of FIG. 3 further includes a generator for generating a parking signal by receiving an input from an operable device, and the generator may operate limitedly when the generator generates a parking signal. . That is, the sensing unit, the determining unit, and the selecting unit of the parking mode selection device according to an embodiment of the present invention may operate only when the generating unit generates a parking signal.

In addition, the apparatus for selecting a parking mode according to an embodiment of the present invention of FIG. 3 may further include a providing unit notifying that one of the selected first parking mode, the second parking mode, and the third parking mode is selected. The notification provides a visual notification to the driver using a device that generates a light source, provides an acoustic notification to the driver using a device that generates a sound source, or a device that generates vibration or a device capable of controlling the temperature can be used to provide a tactile notification to the driver. The notification device may include a human-machine interface (HMI).

4 is a view showing an example for explaining the operation of the parking mode selection device according to another embodiment of the present invention.

Referring to FIG. 4 , the sensing unit of the parking mode selection device according to another embodiment of the present invention first detects the speed of the vehicle ( S301 ). For example, the sensing unit may detect the speed of the vehicle using a speed sensor and detect the location of the vehicle using a global positioning system (GPS).

Thereafter, the determination unit may determine whether the vehicle corresponds to the first condition in which the vehicle is stopped based on the speed detected in step S301 ( S310 ).

If it is determined that the first condition is not met in step S310, the selection unit selects the first parking mode (S350).

Alternatively, if it is determined that the first condition is satisfied in step S310 (YES), the sensing unit may further detect the location of the vehicle (S303). For example, the sensing unit may detect the location of the vehicle using a global positioning system (GPS).

Thereafter, the determination unit may further determine whether the vehicle location detected in step S303 corresponds to a second condition that is different from the previously input location ( S320 ).

If it is determined that the second condition is not met in step S320 (NO), the selection unit selects the third parking mode (S370).

On the other hand, if it is determined that the second condition is satisfied in step S320 (YES), the sensing unit may further detect the distance between the rear sides of the vehicle (S305). For example, the sensing unit may detect a distance to an object located on both rear sides by using an ultrasonic sensor.

Thereafter, the determination unit may further determine whether the distance to both rear sides of the vehicle detected in step S305 corresponds to a third condition of being equal to or less than a preset threshold distance to both rear sides (S330).

If it is determined in step S330 that the third condition is not met (NO), the selection unit selects the first parking mode (S350).

On the other hand, if it is determined that the third condition is satisfied in step S330 (YES), the sensing unit may further detect the distance between the front sides (S307). For example, the sensing unit may detect a distance to an object located on both sides of the front using an ultrasonic sensor. If the ultrasonic sensor used to detect the rear bilateral distance in step S305 has a sensing area capable of detecting the rear bilateral distance, one ultrasonic sensor may be used.

Thereafter, the determination unit may further determine whether the distance to both sides of the front of the vehicle detected in step S307 corresponds to a fourth condition in which the preset distance to both sides of the front is exceeded ( S340 ).

If it is determined in step S340 that it does not correspond to the fourth condition (NO), the selection unit selects the first parking mode (S350), and when it is determined that the fourth condition is satisfied (YES), the selection unit selects the second parking mode Select (S360).

Accordingly, the parking mode selection device according to another embodiment of the present invention detects the surrounding situation and determines whether one or more conditions are satisfied based on the sensed surrounding situation, and accordingly, among the first mode, the second mode and the third mode Desirable one can be automatically selected, and since the sensing unit detects only necessary information, there is an effect that the operation time is reduced.

The apparatus for selecting a parking mode according to another embodiment of the present invention of FIG. 4 further includes a generator for generating a parking signal by receiving an input from an operable device, and the generator can operate limitedly when the generator generates a parking signal. have. That is, the sensing unit, the determining unit, and the selecting unit of the parking mode selection device according to an embodiment of the present invention may operate only when the generating unit generates a parking signal.

In addition, the apparatus for selecting a parking mode according to another embodiment of the present invention of FIG. 4 may further include a providing unit informing that one of the selected first parking mode, the second parking mode, and the third parking mode is selected. The notification provides a visual notification to the driver using a device that generates a light source, provides an acoustic notification to the driver using a device that generates a sound source, or a device that generates vibration or a device capable of controlling the temperature can be used to provide a tactile notification to the driver. The notification device may include a human-machine interface (HMI).

Hereinafter, a parking selection method, which is an operation performed by the parking mode selection device according to an embodiment of the present invention described based on FIGS. 1A to 4 , will be briefly described.

5 is a diagram illustrating a flowchart of a method for selecting a parking mode according to an embodiment of the present invention.

Referring to FIG. 5 , the parking mode selection method according to an embodiment of the present invention includes a sensing step (S500) of detecting at least one of a vehicle speed, a vehicle position, a distance on both sides of the rear of the vehicle, and a distance on both sides of the vehicle; Whether the first condition in which the vehicle is stopped based on the speed corresponds to the first condition, whether the vehicle position corresponds to a second condition different from the previously entered location, and whether the rear side distance corresponds to the third condition in which the rear side distance is less than or equal to the rear side threshold distance Based on the results of the determination step (S510) and the determination step (S510) of judging at least one of whether or not the front side distance corresponds to the fourth condition in which the front side distance exceeds the front side threshold distance, the parking space is searched and the searched parking space Select one of the first parking mode in which the vehicle is parked in the , the second parking mode in which the vehicle is parked based on the detection value for the distance on both sides of the rear, and the third parking mode in which the vehicle is parked when the location of the vehicle matches the stored location It may include a selection step (S520).

For example, the sensing step S500 detects the speed of the vehicle using a speed sensor, detects the location of the vehicle using a global positioning system (GPS), and uses an ultrasonic sensor to detect objects located on both rear sides. It is possible to sense the distance between the rear and both sides of the front and the distance between the front and both sides of the object, but is not limited thereto, and may be detected using any other device or may be received using a communication device.

For example, in the determination step S510, if the speed of the vehicle detected in the detection step S500 is 0, it is determined that the vehicle is in a stopped state and corresponds to the first condition, If the location does not match the previously input location, it may be determined that the second condition is satisfied.

In addition, in the determination step S510, if the distance between the front sides of the vehicle detected in the detection step S500 is less than or equal to the preset threshold distance on the rear sides, it is determined that the third condition is met, and the front sides detected in the detection step S500 When the distance exceeds a preset threshold distance on both sides of the front, it may be determined that the fourth condition is satisfied.

If there are no objects on both sides of the front, the distance between the front sides detected in the sensing step S500 may not exist. In this situation, the determination step S510 may determine that the fourth condition is satisfied.

In the selection step S520, if it is determined that all of the first condition, the second condition, the third condition, and the fourth condition are satisfied in the determination step S510, the second parking mode may be selected.

On the other hand, in the selection step S520, it is determined that the first condition does not correspond to the first condition in the determination step S510, or corresponds to the first condition and the second condition but does not correspond to at least one of the third condition and the fourth condition. If it is determined that the first parking mode can be selected.

In addition, if it is determined that the selection step S520 corresponds to the first condition in the determination step S510 and does not correspond to the second condition, the third parking mode may be selected.

As described above, the parking mode selection method according to an embodiment of the present invention includes a sensing step (S500) of detecting at least one of a vehicle speed, a vehicle position, a distance on both sides of the rear of the vehicle, and a distance on both sides of the vehicle. Based on the vehicle speed, whether the vehicle corresponds to the first condition in which the vehicle is in a stopped state, whether the detected vehicle position A determination step (S510) and the determination step (S510) of judging at least one of whether or not the third condition of equal to or less than the threshold distance on both sides of the rear and whether the detected distance between both sides of the front corresponds to the fourth condition of exceeding the threshold distance on both sides of the rear side (S510) A first parking mode that searches for a parking space based on the result of , and parks a vehicle in the searched parking space, a second parking mode that parks the vehicle based on the detected distance to both sides of the rear, and a location in which the detected vehicle position is stored; By including a selection step (S520) of selecting one of the third parking modes for parking the vehicle if they match, it detects the surrounding situation and determines whether it corresponds to one or more conditions based on the sensed surrounding situation, and accordingly, the first mode, A preferred one of the second mode and the third mode may be automatically selected.

The mentioned desirability may mean that the speed at which parking proceeds is high.

In addition to this, the parking mode selection method of the present invention may perform all of the operations performed by the parking mode selection device of the present invention described based on FIGS. 1A to 4 .

The above description and the accompanying drawings are merely illustrative of the technical idea of the present invention, and those of ordinary skill in the art to which the present invention pertains can combine the configuration within a range that does not depart from the essential characteristics of the present invention. , various modifications and variations such as separation, substitution and alteration will be possible. Accordingly, the embodiments disclosed in the present invention are not intended to limit the technical spirit of the present invention, but to explain, and the scope of the technical spirit of the present invention is not limited by these embodiments. The protection scope of the present invention should be construed by the following claims, and all technical ideas within the equivalent range should be construed as being included in the scope of the present invention.

Claims (10)

a sensing unit configured to sense at least one of a speed of a vehicle, a position of the vehicle, a distance between both rear sides of the vehicle, and a distance between both sides of the vehicle;
Based on the speed of the vehicle, whether the vehicle corresponds to a first condition in which the vehicle is in a stopped state, whether the vehicle position corresponds to a second condition in which the vehicle position is different from a previously input position, and whether the distance between the rear sides of the vehicle corresponds to the rear a determination unit for determining at least one of whether the third condition is equal to or less than the threshold distance of both sides and whether the front bilateral distance corresponds to a fourth condition in which the front bilateral distance exceeds the threshold distance; and
A first parking mode in which a parking space is searched based on the result of the determination unit and the vehicle is parked in the searched parking space, a second parking mode in which the vehicle is parked based on the distance on both sides of the rear, and the location of the vehicle are stored A parking mode selection device including a selection unit for selecting one of the third parking modes for parking the vehicle when the location matches. The method of claim 1,
The selection unit,
A parking mode selection device for selecting a first parking mode if the first condition is not met or if the first condition and the second condition are met but at least one of the third condition and the fourth condition is not met. The method of claim 1,
The selection unit,
A parking mode selection device for selecting a second parking mode when all of the first condition, the second condition, the third condition and the fourth condition are satisfied. The method of claim 1,
The selection unit,
A parking mode selection device for selecting a third parking mode if the first condition is met and the second condition is not met. The method of claim 1,
The sensing unit,
When it is determined that the first condition is satisfied, the parking mode selection device, characterized in that detecting the position of the vehicle. The method of claim 1,
The sensing unit,
When it is determined that the first condition and the second condition are satisfied, the parking mode selection device, characterized in that the distance to both sides of the rear of the vehicle is sensed. The method of claim 1,
The sensing unit,
When it is determined that the first condition, the second condition, and the third condition are satisfied, the parking mode selection device according to claim 1, characterized in that the distance between the front sides of the vehicle is sensed. The method of claim 1,
Further comprising a generator for generating a parking signal by receiving an input from an operable device,
The detection unit, the determination unit and the selection unit parking mode selection device, characterized in that the operation when the parking signal is generated. The method of claim 1,
A provider that provides a notification further includes,
The providing unit,
A parking mode selection device, characterized in that it notifies that one of the first parking mode, the second parking mode and the third parking mode is selected. ◈Claim 10 was abandoned when paying the registration fee.◈ a sensing step of sensing at least one of a speed of a vehicle, a position of the vehicle, a distance between both rear sides of the vehicle, and a distance between both sides of the vehicle;
Based on the speed, whether the vehicle corresponds to a first condition in which the vehicle is in a stopped state, whether the vehicle location corresponds to a second condition different from a previously input position, and a third condition in which the rear-side distance is equal to or less than the rear-side threshold distance a judging step of determining at least one of whether the condition corresponds to the condition and whether the front bilateral distance corresponds to a fourth condition in which the front bilateral distance exceeds the front bilateral threshold distance; and
A first parking mode in which a parking space is searched based on the result of the determination step and the vehicle is parked in the searched parking space, a second parking mode in which the vehicle is parked based on the sensed value for the distance on both sides of the rear side, and the and a selection step of selecting one of the third parking modes for parking the vehicle when the location of the vehicle matches the stored location.

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