KR102394905B1 - Vehicle and controll method thereof - Google Patents

Abstract

In a vehicle that detects a pedestrian or an obstacle during parking, the vehicle determines the position of the pedestrian or obstacle based on the rear image of the vehicle and outputs a first braking signal for braking the vehicle according to the position of the pedestrian or obstacle. prevention auxiliary unit; a remote automatic parking unit that determines a position of a pedestrian or an obstacle based on a rear ultrasonic detection result of the vehicle and outputs a second braking signal for braking the vehicle according to the position of the pedestrian or obstacle; and an integrated automatic parking unit configured to generate a third braking signal by integrating the first braking signal and the second braking signal and transmitting the third braking signal to a braking device of the vehicle.

Description

Vehicle and its control method {VEHICLE AND CONTROLL METHOD THEREOF}

The disclosed invention relates to a vehicle and a method for controlling the same, and more particularly, to a vehicle for preventing rear parking collision and a method for controlling the same.

A vehicle refers to a device capable of transporting people or goods to a destination while traveling on a road or track. The vehicle may be moved to various positions mainly by using one or more wheels installed on the vehicle body. Such a vehicle may include a three-wheeled or four-wheeled vehicle, a two-wheeled vehicle such as a motorcycle, a construction machine, a bicycle, and a train running on rails disposed on a track.

Vehicles are the most common means of transportation in modern society, and the number of people using vehicles is increasing. The development of vehicle technology has advantages such as ease of long-distance movement and convenience of life.

Recently, in order to reduce the burden on the driver and increase convenience, there is a need for a vehicle equipped with an Advanced Driver Assist System (ADAS) that actively provides information on the vehicle condition, driver condition, and surrounding environment. Research is actively underway.

Examples of advanced driver assistance systems mounted on vehicles include a forward collision avoidance system (FCA), an automatic emergency brake system (AEB), a driver attention warning system (DAW), and the like. Such a system is a system for determining a collision risk with an object in a driving situation of a vehicle, and for avoiding collision and providing a warning through emergency braking in a collision situation.

SUMMARY One aspect of the disclosed invention is to provide a vehicle including a rear parking collision avoidance assistance system and a remote automatic parking system, and a method for controlling the same.

One aspect of the disclosed invention is to provide a vehicle for preventing a collision between a rear parking collision avoidance assistance system and a remote automatic parking system and a control method thereof.

One aspect of the disclosed invention is to provide a vehicle including an integrated automatic parking device that integrates an output of a rear parking collision avoidance assistance system and an output of a remote automatic parking system, and a control method thereof.

A vehicle according to an aspect of the disclosed invention is a vehicle that detects a pedestrian or an obstacle during parking, determines the position of the pedestrian or obstacle based on the rear image of the vehicle, and brakes the vehicle according to the position of the pedestrian or obstacle a parking collision avoidance assisting unit that outputs a first braking signal; a remote automatic parking unit that determines a position of a pedestrian or an obstacle based on a rear ultrasonic detection result of the vehicle and outputs a second braking signal for braking the vehicle according to the position of the pedestrian or obstacle; and an integrated automatic parking unit generating a third braking signal by integrating the first braking signal and the second braking signal and transmitting the third braking signal to a braking device of the vehicle.

The integrated automatic parking unit may determine the greater of the braking amount of the first braking signal and the braking amount of the second braking signal as the braking amount of the third braking signal.

The integrated automatic parking unit may generate the third braking signal such that a reduction rate of the braking amount of the third braking signal is greater than a predetermined speed.

The integrated automatic parking unit may reduce the braking amount of the third braking signal to the predetermined speed when a difference between the braking amount of the first braking signal and the braking amount of the braking signal decreases.

The integrated automatic parking unit determines the amount of any one of the first braking signal and the second braking signal according to the priority of braking by the parking collision avoidance auxiliary unit and the priority of braking by the remote automatic parking unit. It may be determined by the amount of braking of the third braking signal.

The integrated automatic parking unit may be configured to select one of the first braking signal and the second braking signal according to whether the target of the parking collision avoidance assistance unit is a pedestrian or an obstacle and whether the target of the remote automatic parking unit is a pedestrian or an obstacle. may be determined as the braking amount of the third braking signal.

In the integrated automatic parking unit, the difference between the positions of the first pedestrian or the first obstacle determined based on the rear image is greater than the predetermined value, the difference between the positions of the second pedestrian or the second obstacle determined based on the ultrasonic detection result If it is smaller, it may be determined that the first pedestrian or the first obstacle is the same as the second pedestrian or the second obstacle.

The integrated automatic parking unit may use the position of the second pedestrian or the second obstacle determined based on the ultrasonic detection result to correct the position of the first pedestrian or the first obstacle determined based on the rear image.

In the control method of a vehicle according to an aspect of the disclosed invention, in the control method of a vehicle for detecting a pedestrian or obstacle during parking, the position of the pedestrian or obstacle is determined based on the rear image of the vehicle, and the position of the pedestrian or obstacle outputting a first braking signal for braking the vehicle according to the determining a position of a pedestrian or an obstacle based on a rear ultrasonic detection result of the vehicle and outputting a second braking signal for braking the vehicle according to the position of the pedestrian or obstacle; and generating a third braking signal by integrating the first braking signal and the second braking signal, and transmitting the third braking signal to a braking device of the vehicle.

The braking amount of the third braking signal may be greater than the braking amount of the first braking signal and the braking amount of the second braking signal.

The reduction speed of the braking amount of the third braking signal may be greater than a predetermined speed.

The control method may further include reducing the braking amount of the third braking signal to the predetermined speed when a difference between the braking amount of the first braking signal and the braking amount of the braking signal decreases.

The generating of the third braking signal may include setting a braking amount of any one of the first braking signal and the second braking signal according to the priority of the first braking signal and the priority of the second braking signal. 3 It may include a process of determining the amount of braking of the braking signal.

The generating of the third braking signal includes the first braking signal according to whether the target determined based on the rear image is a pedestrian or an obstacle and whether the target determined based on the ultrasonic detection result is a pedestrian or an obstacle. and determining the braking amount of any one of the second braking signals as the braking amount of the third braking signal.

If the difference between the position of the first pedestrian or the first obstacle determined based on the rear image and the position of the second pedestrian or the second obstacle determined based on the ultrasonic detection result is smaller than a predetermined value, The method may further include determining that the first pedestrian or the first obstacle is the same as the second pedestrian or the second obstacle.

The control method may further include correcting the position of the first pedestrian or the first obstacle determined based on the rear image by using the position of the second pedestrian or the second obstacle determined based on the ultrasonic detection result. can

According to one aspect of the disclosed invention, it is possible to provide a vehicle including a rear parking collision avoidance assist system and a remote automatic parking system, and a method for controlling the same.

According to one aspect of the disclosed invention, it is possible to provide a vehicle for preventing a collision between a rear parking collision avoidance assistance system and a remote automatic parking system and a control method thereof.

According to an aspect of the disclosed invention, it is possible to provide a vehicle including an integrated automatic parking device that integrates the output of the rear parking collision avoidance assistance system and the output of the remote automatic parking system, and a method for controlling the same.

1 shows a body of a vehicle according to an embodiment.
2 shows a chassis of a vehicle according to an embodiment.
3 illustrates an electrical component of a vehicle according to an exemplary embodiment.
4 illustrates a configuration of an integrated automatic parking system included in a vehicle according to an embodiment.
5 and 6 show sensor fusion of an integrated automatic parking system included in a vehicle according to an embodiment.
7 is a diagram illustrating integrated braking control of an integrated automatic parking system included in a vehicle according to an exemplary embodiment.
8 illustrates an operation of a parking collision avoidance assistance system included in a vehicle according to an exemplary embodiment.
9 illustrates an operation of a remote automatic parking system included in a vehicle according to an embodiment.
10 shows an example of the operation of the integrated automatic parking system included in the vehicle according to an embodiment.

Like reference numerals refer to like elements throughout. This specification does not describe all elements of the embodiments, and general content in the technical field to which the disclosed invention pertains or content overlapping between the embodiments is omitted. The term 'part, module, member, block' used in this specification may be implemented in software or hardware, and according to embodiments, a plurality of 'part, module, member, block' may be implemented as one component, It is also possible for one 'part, module, member, block' to include a plurality of components.

Throughout the specification, when a part is "connected" to another part, it includes not only direct connection but also indirect connection, and indirect connection includes connection through a wireless communication network. do.

Also, when a part "includes" a certain component, it means that other components may be further included, rather than excluding other components, unless otherwise stated.

Throughout the specification, when a member is said to be located "on" another member, this includes not only a case in which a member is in contact with another member but also a case in which another member exists between the two members.

Terms such as first, second, etc. are used to distinguish one component from another, and the component is not limited by the above-mentioned terms.

The singular expression includes the plural expression unless the context clearly dictates otherwise.

In each step, the identification code is used for convenience of description, and the identification code does not describe the order of each step, and each step may be performed differently from the specified order unless the specific order is clearly stated in the context. there is.

Hereinafter, the working principle and embodiments of the disclosed invention will be described with reference to the accompanying drawings.

1 shows a body of a vehicle according to an embodiment. 2 shows a chassis of a vehicle according to an embodiment. 3 illustrates an electrical component of a vehicle according to an exemplary embodiment.

1, 2 and 3 , the vehicle 100 includes a body 110 that forms the exterior of the vehicle 100 and accommodates a driver and/or luggage, and a vehicle other than the body 110 . It includes a chassis 120 including the components of 100 , and electrical components 130 that protect the driver and provide convenience to the driver.

Referring to FIG. 1 , a vehicle body 110 forms, for example, an interior space for a driver to stay, an engine room for accommodating an engine, and a trunk room for accommodating cargo.

The body 20 includes a hood (111), a front fender (112), a roof panel (113), a door (114), a trunk lid (115) , quarter panel 116 , and the like. In addition, in order to secure the driver's view, a front window 117 is installed in front of the vehicle body 110 , and a side window 118 is installed in a side surface of the vehicle body 110 , A rear window 119 is provided at the rear of the vehicle body 110 .

Referring to FIG. 2 , the chassis 120 includes a power generating device 121 that allows the vehicle 100 to travel under the driver's control, a power transmitting device 122 , a steering device 123 , and a braking system. a device 124 , a wheel 125 , a frame 126 , and the like.

The power generating device 121 generates rotational force for driving the vehicle 100 according to the driver's acceleration control, and includes an engine 121a, a fuel supply device 121b, an exhaust device 121c, an accelerator pedal, and the like. include

The power transmission device 122 transmits the rotational force generated by the power generation device 121 to the wheels 125 , and includes a clutch/transmission 122a, a drive shaft 122b, a shift lever, and the like.

The steering device 123 changes the driving direction of the vehicle 100 according to the driver's steering control, and includes a steering wheel 123a, a steering gear 123b, a steering link 123c, and the like.

The braking device 124 stops the driving of the vehicle 100 according to the driver's braking control, and includes a master cylinder 124a, a brake disc 124b, a brake pad 124c, a brake pedal, and the like.

The wheel 125 may receive rotational force from the power generating device 121 through the power transmitting device 122 , and may move the vehicle 100 . The wheel 125 may include a front wheel provided at the front of the vehicle and a rear wheel provided at the rear of the vehicle.

The frame 126 may fix the power generating device 121 , the power transmitting device 122 , the steering device 123 , the braking device 124 , and the wheel 125 .

The vehicle 100 may include various electronic components 130 for the control of the vehicle 100 and the safety and convenience of a driver and passengers as well as the mechanical parts described above.

Referring to FIG. 3 , the vehicle 100 includes an engine management system (EMS) 131 , a transmission control unit (TCU) 132 , and an electronic braking system (EBS). ) 133, an Electric Power Steering (EPS) 134, a body control module (BCM) 135, a display 136, and an audio device ) (137), a Parking Collision-Avoidance Assist (PCA) (138), a remote smart parking assist (RSPA) (139), and an integrated automatic parking system (200). include

The engine management system 131 may control the operation of the engine and manage the engine in response to the driver's acceleration command through the accelerator pedal. For example, the engine management system 131 may perform engine torque control, fuel efficiency control, engine failure diagnosis, and/or generator control.

The transmission control unit 132 may control the operation of the transmission in response to a driver's shift command through the shift lever or the driving speed of the vehicle 100 . For example, the transmission control unit 132 may perform clutch control, shift control, and/or engine torque control during shift.

The electronic braking system 133 may control the operation of the braking device of the vehicle 100 in response to a braking command from the driver through the braking pedal. Also, the electronic braking system 133 may maintain the balance of the vehicle 100 . For example, the electronic braking system 133 may perform automatic parking brake, anti-slip during braking, and/or anti-slip during steering.

The electric steering device 134 may assist the driver so that the driver can easily manipulate the steering wheel 123a. For example, the electric steering device 134 may assist the driver in steering operation, such as decreasing the steering force when driving at a low speed or parking and increasing the steering force when driving at a high speed.

The vehicle body control module 135 may control the operation of electrical components that provide convenience to the driver or guarantee the driver's safety. For example, the body control module 135 may control a door lock, a head lamp, a wiper, a power seat, a seat heater, a cluster, a room lamp, a navigation system, a multi-function switch, etc. installed in the vehicle 100 .

The display device 136 may be installed in the center fascia inside the vehicle 100 , and may provide various information and fun to the driver through images. For example, the display device 136 may reproduce a video file stored in an internal storage medium or an external storage medium according to a driver's command, and output an image included in the video file. Also, the display device 136 may receive a destination from the driver through the driver's touch input, and display a route to the input destination.

The audio device 138 may provide various information and fun to the driver through sound. For example, the audio device 138 may reproduce an audio file stored in an internal storage medium or an external storage medium according to a driver's command, and output a sound included in the audio file. Also, the audio device 138 may receive an audio broadcast signal and output a sound corresponding to the received audio broadcast signal.

The parking collision avoidance assistance system 138 may predict a collision with a pedestrian while the vehicle 100 is reversing at a low speed, and may warn the driver or brake the vehicle 100 according to the prediction result. The parking collision avoidance assistance system 138 includes a rear camera 138a that captures the rear of the vehicle 100 to acquire an image of the rear of the vehicle 100, and an ultrasonic sensor that transmits detection ultrasonic waves and receives reflected ultrasonic waves reflected from pedestrians ( 138b). The parking collision avoidance assistance system 138 determines the position of the pedestrian located in the rear of the vehicle 100 based on the image of the rear camera 138a and the output of the ultrasonic sensor 138b, and the vehicle 100 based on the pedestrian. and collisions between pedestrians and/or obstacles can be predicted. Thereafter, the parking collision avoidance assistance system 138 may warn the driver of a collision with a pedestrian or may transmit a braking request message including deceleration to the electronic braking system 133 .

The remote automatic parking system 139 may automatically park the vehicle 100 in response to the driver's remote input. The remote automatic parking system 139 includes an ultrasonic sensor 139a for detecting parking spaces and parking obstacles. The remote automatic parking system 139 may determine a parking space based on the output of the ultrasonic sensor 139a and detect an obstacle. The remote automatic parking system 139 includes the engine management system 131 , the transmission control unit 132 , the electronic braking system 133 , and the electric steering system 134 so that the vehicle 100 avoids obstacles and parks in the parking space. Control messages can be sent. In particular, the remote automatic parking system 139 may transmit an emergency braking request message to the electronic braking system 133 when a collision with an obstacle is expected in order to prevent a collision with an obstacle at the rear of the vehicle 100 .

The integrated automatic parking system 200 may fuse (sensor fusion) the image of the rear camera 138a and the outputs of the ultrasonic sensors 138b and 139a to hide pedestrians and/or obstacles. The integrated automatic parking system 200 may integrate the output of the parking collision avoidance assistance system 138 and the output of the remote main automatic parking system 139 to transmit the integrated braking message to the electronic braking system 133 .

The integrated automatic parking system 200 is described in more detail below.

In addition, the vehicle 100 may further include electrical components for protecting the driver and providing convenience to the driver. For example, the vehicle 100 may include electronic components 130 such as a door lock, a wiper, a power seat, a seat heater, a cluster, a room lamp, a navigation system, and a multi-function switch.

These electrical components 130 may communicate with each other through the vehicle communication network NT. For example, the electrical components 130 may include Ethernet (Ethernet), MOST (Media Oriented Systems Transport), Flexray, CAN (Controller Area Network), LIN (Local Interconnect Network), etc. data can be exchanged through

4 illustrates a configuration of an integrated automatic parking system included in a vehicle according to an embodiment. 5 and 6 show sensor fusion of an integrated automatic parking system included in a vehicle according to an embodiment. 7 illustrates an integrated braking control of an integrated automatic parking system included in a vehicle according to an exemplary embodiment.

As shown in FIG. 4 , the integrated automatic parking system 200 includes a communication unit 210 that communicates with other electric components 130 included in the vehicle 100 , and a pedestrian and / Alternatively, the control unit 220 determines whether to brake the vehicle 100 based on the detection result of the obstacle.

The communication unit 210 includes a CAN transceiver 211 for receiving a communication signal from the electrical components 130 in the vehicle communication network NT and transmitting the communication signal to the electrical components 130 .

The CAN transceiver 211 may receive an analog communication signal through the vehicle communication network NT, convert the analog communication signal into digital communication data, and output it to the controller 220 . In addition, the CAN transceiver 211 may receive digital communication data from the control unit 220 , convert the digital communication data into an analog communication signal, and transmit it through the vehicle communication network NT.

In particular, the CAN transceiver 211 receives the rear image and ultrasonic detection result from the parking collision avoidance assistance system 138 and the ultrasonic detection result from the remote automatic parking system 139 through the vehicle communication network NT, and receives the rear image and The ultrasonic detection result may be transmitted to the controller 220 . The CAN transceiver 211 receives information about the location of pedestrians and/or obstacles from the controller 220, and transmits information about the location of pedestrians and/or obstacles to the parking collision avoidance assistance system (NT) through the vehicle communication network (NT). 138) and remote automated parking system 139.

In addition, the CAN transceiver 211 receives the brake request message of the parking collision avoidance assistance system 138 and the brake request message of the remote automatic parking system 139 through the vehicle communication network NT, and transmits the received brake request messages. may be transmitted to the controller 220 . The CAN transceiver 211 may receive the braking request message from the controller 220 and transmit the braking request message of the controller 220 to the electronic braking system 133 through the vehicle communication network NT.

The control unit 220 includes a processor 221 for generating a control signal for controlling the operation of the integrated automatic parking system 200 and a memory for storing programs and data for controlling the operation of the integrated automatic parking system 200 ( 222).

The processor 221 may receive the rear image and ultrasonic detection result from the parking collision avoidance assistance system 138 and the ultrasonic detection result from the remote automatic parking system 139 through the communication unit 210 .

As shown in FIG. 5 , the processor 221 may determine the position of the pedestrian and/or obstacle based on the rear image, and may determine the position of the pedestrian and/or obstacle based on the ultrasonic sensing result.

The processor 221 may receive a rear image as shown in (a) of FIG. 6 . Thereafter, the processor 221 may generate an image as shown in (b) of FIG. 6 by correcting the distortion of the rear image. Thereafter, the processor 221 may detect the pedestrian from the image shown in FIG. 6B and determine the location of the pedestrian as shown in FIG. 6C . Thereafter, the processor 221 may determine the position of the pedestrian in the rear image as shown in FIG. 6D .

Also, the processor 221 may determine the position of the pedestrian using triangulation based on the distance to the pedestrian detected by the plurality of ultrasonic sensors.

Thereafter, the processor 221 may fuse the position of the pedestrian and/or obstacle determined based on the rear image with the position of the pedestrian and/or obstacle determined based on the ultrasonic sensing result.

For example, the processor 221 may correct the position of the pedestrian and/or obstacle determined based on the rear image by using the position of the pedestrian and/or obstacle determined based on the ultrasound detection result.

As another example, if the error between the position of the pedestrian and/or obstacle determined based on the rear image and the position of the pedestrian and/or obstacle determined based on the ultrasonic detection result is less than a predetermined reference value, the processor 221 may perform the same It can be determined as a target (a pedestrian and/or an obstacle).

Thereafter, the processor 221 transmits information about the location of the pedestrian and/or obstacle determined based on the rear image and the ultrasonic detection result through the communication unit 210 to the parking collision avoidance assistance system 138 and the remote automatic parking system 139 ) can be transmitted.

The processor 221 may receive a braking request message from the parking collision avoidance assistance system 138 and a braking request message from the remote automatic parking system 139 through the communication unit 210 . The processor 221 may integrate the braking request of the parking collision avoidance assistance system 138 with the braking request of the remote automated parking system 139 .

For example, a pedestrian is found during braking by the parking collision avoidance assistance system 138 and emergency braking by the remote automatic parking system 139 occurs, and then the pedestrian disappears and emergency braking by the remote automatic parking system 139 This can be turned off. As a result, the processor 221 may receive the first braking request C1 of the parking collision avoidance assistance system 138 and the second braking request C2 of the remote automatic parking system 139 as shown in FIG. 7 . can

The processor 221 may generate the third braking request C3 according to the first braking request C1 of the parking collision avoidance assistance system 138 by time T1 . The processor 221 may generate the third braking request C3 according to the second braking request C2 of the remote automatic parking system 139 between time T2 and time T3 .

The processor 221 gradually increases the braking amount from the peak of the second braking request C2 of the remote automatic parking system 139 to the first braking request C1 of the parking collision avoidance assistance system 138 between time T3 and time T4. (deceleration for braking) can be reduced. The reduction speed of the braking amount may be greater than a predetermined speed. At this time, the processor 221 calculates ΔT between time T3 and time T4 so that overshooting does not occur until the first braking request C1 by using the first-order transfer function K/Ts+1. can do.

Thereafter, the processor 221 may transmit the third braking request C3 to the electronic braking system 133 through the communication unit 210 .

The processor 221 may include an arithmetic circuit that performs logical operations and arithmetic operations, and a memory circuit that stores the calculated data.

The memory 222 processes the rear image and the ultrasonic detection result to determine the position of the pedestrian and/or obstacle, the first braking request C1 of the parking collision avoidance assistance system 138 and the remote automatic parking system 139 A program and data for processing the second braking request C2 to generate the third braking request C3 may be stored.

The memory 222 includes a nonvolatile memory such as a read only memory and a flash memory for storing data for a long period of time, and a static random access memory (S-RAM) and D-RAM for temporarily storing data. It may include a volatile memory such as a dynamic random access memory (RAM).

In this way, the controller 220 processes the rear image and the ultrasonic detection result to determine the position of the pedestrian and/or obstacle, and the first braking request C1 of the parking collision avoidance assistance system 138 and the remote automatic parking system 139 ) to generate a third braking request C3 by processing the second braking request C2.

8 illustrates an operation of a parking collision avoidance assistance system included in a vehicle according to an exemplary embodiment.

The parking collision avoidance assistance system 138 determines the driving path of the vehicle 100 based on the driving direction of the vehicle 100 , and based on the location of the pedestrian and/or obstacle, the pedestrian and/or the obstacle moves to the vehicle 100 . It can be determined whether it is located on the driving path of

For example, as shown in FIG. 8 , when the vehicle 100 rotates backwards, the parking collision avoidance assistance system 138 determines the distance (R_target) from the rotation center of the vehicle 100 to the pedestrian and/or obstacle. It may be determined whether the vehicle is located between the inner turning radius R_inner of the vehicle 100 and the outer turning radius R_outer of the vehicle 100 .

Specifically, the parking collision avoidance assistance system 138 may determine whether [Equation 1] is satisfied.

[Equation 1]

However, R_target represents the distance from the center of rotation of the vehicle 100 to pedestrians and/or obstacles, R_inner represents the inner turning radius of the vehicle 100, and R_outer may represent the outer turning radius of the vehicle 100. .

When [Equation 1] is satisfied, the parking collision avoidance assistance system 138 calculates the collision prediction time (T_col) until the collision between the vehicle 100 and the pedestrian and/or obstacle using [Equation 2]. can

[Equation 2]

However, T_col represents the collision prediction time until the collision between the vehicle 100 and the pedestrian and/or obstacle, R_target represents the distance from the rotation center of the vehicle 100 to the pedestrian and/or obstacle, and θ1 is the vehicle ( represents the angle between the reference line RL of the rotational travel of 100 and the expected collision position of the vehicle 100 , and θ2 represents the angle between the reference line RL of the rotational travel of the vehicle 100 and pedestrians and/or obstacles , V denotes the traveling speed of the vehicle 100 , atan( ) denotes the arc tangent function, x_target denotes the x-coordinate of the pedestrian and/or obstacle, and R_center denotes the vehicle 100 from the rotation center of the vehicle 100 . represents the distance to the center of , y_target represents the y-coordinate of pedestrians and/or obstacles, x_collision represents the x-coordinate of the expected collision location of the vehicle 100 , and R_target represents the pedestrian and/or the/ Alternatively, it may indicate the distance to the obstacle.

According to [Equation 2], the collision prediction time T_col is calculated based on the location of the pedestrian and/or the obstacle.

9 illustrates an operation 1000 of a remote automated parking system included in a vehicle according to an embodiment.

The remote automatic parking system 139 processes the output of the ultrasonic sensor 139a (1010).

The remote automatic parking system 139 may calculate a distance from the ultrasonic sensor 139a to a pedestrian and/or an obstacle based on the output of the ultrasonic sensor 139a.

The remote automatic parking system 139 corrects the output of the ultrasonic sensor 139a ( 1020 ).

The remote automatic parking system 139 estimates the moving distance of the vehicle 100 while processing the output of the ultrasonic sensor 139a, and based on the estimated moving distance of the vehicle 100, the pedestrian and the pedestrian from the ultrasonic sensor 139a. / or the distance to the obstacle can be corrected.

The remote automated parking system 139 determines a lateral collision ( 1030 ).

The remote automatic parking system 139 may determine whether a side of the vehicle 100 will collide with the pedestrian and/or obstacle based on the distance to the pedestrian and/or obstacle and the driving direction (parking direction) of the vehicle 100 . .

The remote automated parking system 139 determines a braking distance ( 1040 ).

The remote automatic parking system 139 may determine the braking distance of the vehicle 100 based on the driving speed (parking speed) of the vehicle 100 and the distance to pedestrians and/or obstacles.

The remote automatic parking system 139 determines whether emergency braking is performed ( S1050 ).

The remote automatic parking system 139 may determine whether emergency braking of the vehicle 100 is performed based on a distance to a pedestrian and/or an obstacle. Also, the remote automatic parking system 139 may determine whether emergency braking of the vehicle 100 is performed according to the prediction result of the lateral collision of the vehicle 100 .

The remote automatic parking system 139 determines a stop ( 1060 ).

The remote automatic parking system 139 may determine whether parking of the vehicle 100 is completed.

As such, the remote automatic parking system 139 detects a pedestrian and/or an obstacle during parking by the driver's remote input, and when a pedestrian and/or an obstacle is detected, the vehicle 100 according to the distance to the pedestrian and/or obstacle is detected. Emergency braking may be performed or the vehicle 100 may be braked gradually.

10 shows an example of an operation 1100 of an integrated automatic parking system included in a vehicle according to an embodiment.

The integrated automatic parking system 200 receives the first braking request and the second braking request ( 1110 ).

The automatic parking system 200 may receive the second braking request from the remote automatic parking system 139 through the communication unit 210 . In addition, the automatic parking system 200 may receive the first braking request from the parking collision avoidance assistance system 138 through the communication unit 210 .

The integrated automatic parking system 200 compares the braking amount (deceleration for braking) of the first braking request and the braking amount (acceleration for braking) of the second braking request ( 1120 ).

The integrated automatic parking system 200 compares the braking amount of the first braking request with the braking amount of the second braking request, and applies a larger amount of braking between the braking amount of the first braking request and the braking amount of the second braking request to the third braking. It can be judged by the amount of braking of the request.

The integrated automated parking system 200 compares the priorities between the parking collision avoidance assistance system 138 and the remote automated parking system 139 ( 1130 ).

The priority between the parking collision avoidance assistance system 138 and the remote automatic parking system 139 may be predetermined in advance, changed by driving, or changed according to a driving state for parking.

For example, the integrated automatic parking system 200 may generate the third braking request based on the first received braking request among the first braking request and the second braking request.

The integrated automatic parking system 200 compares the priority of the target ( 1140 ).

The integrated automatic parking system 200 may determine whether the target of the first and second braking requests is a pedestrian or an obstacle (object). Thereafter, the integrated automatic parking system 200 may generate a third braking request based on a braking request in which the target is a pedestrian among the first braking request and the second braking request.

The integrated automatic parking system 200 outputs a third braking request ( 1150 ).

The integrated automatic parking system 200 may transmit a third braking request to the electronic braking system 133 through the vehicle communication network NT. The electronic braking system 133 may brake the vehicle 100 according to the third braking request of the integrated automatic parking system 200 .

As described above, the integrated automatic parking system 200 receives a first brake request from the parking collision avoidance assistance system 138 and receives a second brake request from the remote automatic parking system 139, and then receives the first The third braking request may be generated by combining the braking request and the second braking request. Also, the integrated automatic parking system 200 may transmit a third braking request to the electronic braking system 133 .

As a result, when the output of the parking collision avoidance assistance system 138 and the output of the remote automatic parking system 139 collide, the integrated automatic parking system 200 is the output of the parking collision avoidance assistance system 138 and the remote automatic parking system. It is possible to arbitrate conflicts between the outputs of (139).

In addition, even if emergency braking of the remote automatic parking system 139 is requested during braking by the parking collision avoidance assistance system 138 , the integrated automatic parking system 200 controls the amount of braking (deceleration for braking) of the vehicle 100 . It can be changed gradually, and the driver's discomfort can be minimized.

Meanwhile, the disclosed embodiments may be implemented in the form of a recording medium storing instructions executable by a computer. Instructions may be stored in the form of program code, and when executed by a processor, may create a program module to perform the operations of the disclosed embodiments. The recording medium may be implemented as a computer-readable recording medium.

The computer-readable recording medium includes any type of recording medium in which instructions readable by the computer are stored. For example, there may be a read only memory (ROM), a random access memory (RAM), a magnetic tape, a magnetic disk, a flash memory, an optical data storage device, and the like.

The disclosed embodiments have been described with reference to the accompanying drawings as described above. Those of ordinary skill in the art to which the present invention pertains will understand that the present invention may be practiced in other forms than the disclosed embodiments without changing the technical spirit or essential features of the present invention. The disclosed embodiments are illustrative and should not be construed as limiting.

100: vehicle 138: parking collision avoidance assistance system
139: remote automatic parking system 200: integrated automatic parking system
210: communication unit 220: control unit
221: processor 222: memory

Claims (16)

In a vehicle that detects a pedestrian or an obstacle during parking,
a parking collision avoidance auxiliary unit that determines a position of a pedestrian or an obstacle based on the rear image of the vehicle and outputs a first braking signal for braking the vehicle according to the position of the pedestrian or obstacle;
a remote automatic parking unit that determines a position of a pedestrian or an obstacle based on a rear ultrasonic detection result of the vehicle and outputs a second braking signal for braking the vehicle according to the position of the pedestrian or obstacle; and
an integrated automatic parking unit generating a third braking signal by integrating the first braking signal and the second braking signal and transmitting the third braking signal to a braking device of the vehicle;
The integrated automatic parking unit determines the greater of the braking amount of the first braking signal and the braking amount of the second braking signal as the braking amount of the third braking signal.
delete According to claim 1,
wherein the integrated automatic parking unit generates the third braking signal such that a reduction rate of the braking amount of the third braking signal is greater than a predetermined speed. 4. The method of claim 3,
The integrated automatic parking unit reduces the braking amount of the third braking signal to the predetermined speed when a difference between the braking amount of the first braking signal and the braking amount of the second braking signal decreases. According to claim 1,
The integrated automatic parking unit determines the amount of any one of the first braking signal and the second braking signal according to the priority of braking by the parking collision avoidance auxiliary unit and the priority of braking by the remote automatic parking unit. A vehicle that is determined by the amount of braking of the third braking signal. According to claim 1,
The integrated automatic parking unit may be configured to select one of the first braking signal and the second braking signal according to whether the target of the parking collision avoidance assistance unit is a pedestrian or an obstacle and whether the target of the remote automatic parking unit is a pedestrian or an obstacle. A vehicle that determines the amount of braking of , as the amount of braking of the third braking signal. The method of claim 1,
In the integrated automatic parking unit, the difference between the positions of the first pedestrian or the first obstacle determined based on the rear image is greater than the predetermined value, the difference between the positions of the second pedestrian or the second obstacle determined based on the ultrasonic detection result If it is smaller, the vehicle determines that the first pedestrian or the first obstacle is the same as the second pedestrian or the second obstacle. According to claim 1,
The integrated automatic parking unit corrects the position of the first pedestrian or the first obstacle determined based on the rear image by using the position of the second pedestrian or the second obstacle determined based on the ultrasonic detection result. In the control method of a vehicle for detecting a pedestrian or an obstacle during parking,
determining a position of a pedestrian or an obstacle based on the rear image of the vehicle and outputting a first braking signal for braking the vehicle according to the position of the pedestrian or obstacle;
determining a position of a pedestrian or an obstacle based on a rear ultrasonic detection result of the vehicle and outputting a second braking signal for braking the vehicle according to the position of the pedestrian or obstacle; and
generating a third braking signal by integrating the first braking signal and the second braking signal, and transmitting the third braking signal to a braking device of the vehicle;
The braking amount of the third braking signal is the greater of the braking amount of the first braking signal and the braking amount of the second braking signal.
delete 10. The method of claim 9,
The control method of the vehicle, wherein the rate of decrease of the braking amount of the third braking signal is greater than a predetermined rate. 12. The method of claim 11,
and reducing the braking amount of the third braking signal to the predetermined speed when a difference between the braking amount of the first braking signal and the braking amount of the second braking signal decreases. 10. The method of claim 9,
The process of generating the third braking signal includes:
determining the braking amount of any one of the first and second braking signals as the braking amount of the third braking signal according to the priority of the first braking signal and the priority of the second braking signal; A control method of a vehicle comprising. 10. The method of claim 9,
The process of generating the third braking signal includes:
According to whether the target determined based on the rear image is a pedestrian or an obstacle and whether the target determined based on the ultrasonic detection result is a pedestrian or an obstacle, one of the first braking signal and the second braking signal is selected. and determining the same amount as a braking amount of the third braking signal. 10. The method of claim 9,
When the difference between the position of the first pedestrian or the first obstacle determined based on the rear image and the position of the second pedestrian or the second obstacle determined based on the ultrasonic detection result is less than a predetermined value, the first pedestrian or determining that the first obstacle is the same as the second pedestrian or the second obstacle. 10. The method of claim 9,
The method of controlling a vehicle further comprising correcting the position of the first pedestrian or the first obstacle determined based on the rear image by using the position of the second pedestrian or the second obstacle determined based on the ultrasonic detection result .

Images