KR20090022129A - Parking assist method and apparutus for assisting parking and moving vehicle according to plural parking mode - Google Patents

Abstract

A parking auxiliary apparatus for assisting park and evection according to a plurality of parked modes is provided to confirm impact of vehicle by sensing obstacle of vehicle periphery according to selected mode. A parking auxiliary apparatus for assisting park and evection according to a plurality of parked modes includes I/O unit(110) containing an active steering apparatus(130), ABS(140) and obstacle detector(120), a main control unit(150) controlled so that the vehicles resides according to a specific selection mode or the vehicles go out with a car.

Description

Parking Assist Method and Apparutus for Assisting Parking and Moving Vehicle According to Plural Parking Mode}

The present invention relates to a parking assistance method and apparatus for assisting parking and investment according to a plurality of parking modes. More specifically, the vehicle includes a plurality of selection modes for various parking methods or leaving methods of the vehicle, and determines whether parking and leaving are possible by detecting obstacles around the vehicle in the parking space according to the selection mode selected by the driver. And a method and apparatus for providing driving convenience when parking or leaving a vehicle according to various parking methods or leaving methods by calculating a collision avoidance route when assisting parking or leaving when parking or leaving is possible. will be.

Recently, vehicles such as automobiles are becoming a necessity of modern man, and new vehicles are rapidly released and operated, resulting in various social problems such as traffic jams and parking problems.

In particular, the parking problem is serious, and as the number of vehicles increases in limited regions, cities, and countries, parking spaces are inevitably reduced, and parking is divided so that one vehicle can park to solve the shortage of parking spaces. The compartments are getting narrower.

In addition, even when there are several vehicles parked together in a parking space without a parking compartment, the distance between the vehicles must be narrow.In this case, the driver checks the surrounding obstacles with the naked eye and drives the vehicle directly to park in a narrow parking space or narrow parking. There is a problem that it is difficult to leave a vehicle in space.

Recently, a technology for automatically parking a vehicle equipped with an automatic parking system and checking an image taken around the vehicle in the automatic parking system has been developed and released. This automatic parking system uses a camera mounted at the rear of the vehicle to automatically steer the vehicle and assist parking when the driver parks the vehicle at right angles or parallel parking in the parking space, or install a distance sensor on the side of the vehicle. Sensor assists in parallel parking by detecting nearby obstacles.

However, such a conventional automatic parking system has been developed with the focus on assisting in parking the vehicle in the parking space, and does not consider driving assistance when leaving the vehicle out of the parking space, so it is not used to driving a vehicle. There was a problem in that the driver had difficulty in leaving the vehicle in a narrow parking space.

In addition, conventional automatic parking systems, as described above, are primarily assisted only with orthogonal parking assisting parking when the vehicle is located perpendicular to the parking space or parallel parking assisting parking when the vehicle is located parallel to the parking space. There was no consideration of various parking or departing situations.

That is, when the driver parks the vehicle in the parking space, there may be a case where a parallel reverse parking lot is parked backward in the parking space parallel to the vehicle, and the parallel straight parking in the parking space parallel to the vehicle is performed. There may be times when you need to park, and you may need to park backwards or backwards in a parking space perpendicular to the vehicle, or you may need to park forward or right angles. There may be several ways of parking or getting out of the way, including a combination of slopes, forwards and backwards.

However, the above-described conventional automatic parking system does not consider such various parking methods or discharging methods, and thus, there is a problem that the driver cannot solve practical difficulties when parking or discharging a vehicle.

In order to solve the above-mentioned problem, the present invention is provided with a plurality of selection modes for the various parking method or the exit method of the vehicle, and according to the selection mode selected by the driver to detect the obstacles around the vehicle in the parking space and parking and To check whether parking is possible, and to assist in parking or leaving by calculating a collision avoidance route when parking or leaving is possible, to provide driving convenience when parking or leaving a vehicle according to various parking methods or leaving methods. It is an object of the present invention to provide a method and apparatus.

In order to achieve the above object, the present invention, an active steering device, electronically controlled braking device and obstacle detection unit, in the device for assisting the vehicle to park in or out of the parking space, a plurality of selection modes An input / output device for receiving a specific selection mode; And a main controller configured to control the vehicle to park or exit according to the specific selection mode by using the active steering device and the electronically controlled braking device when the specific selection mode is selected using the input / output device. According to the parking assist device to assist with parking and leaving.

In addition, according to another object of the present invention, in a parking assistance device including an input / output device, an obstacle detection unit, an active steering device, an electronically controlled braking device and a main control device, assisting the vehicle to park in or out of the parking space. A method comprising: (a) receiving a specific selection mode among a plurality of selection modes using an input / output device; (b) detecting an obstacle around the vehicle and a distance between the vehicle and an obstacle using an obstacle detecting unit; (c) calculating a collision avoidance path, which is a path for parking or leaving a vehicle by avoiding obstacles according to a specific selection mode; (d) checking whether the vehicle can be parked or unloaded along the collision avoidance path without colliding with the obstacle; And (e) if the vehicle can be parked or unloaded along the collision avoidance path without colliding with an obstacle, controlling the vehicle to park or unload along the collision avoidance path by using an active steering device and an electronically controlled braking device. According to a plurality of parking modes, characterized in that it provides a parking assistance method for assisting with parking and leaving.

As described above, according to the present invention, the driver may select a mode for assisting parking or leaving for various situations that may occur when the driver parks or leaves the vehicle in a parking space, and according to the selected mode By detecting obstacles in the surroundings, it is possible to check whether the vehicle is collided, and by assisting the vehicle to safely park or exit without colliding with the obstacles, there is an effect of providing the driver's driving convenience.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. First of all, in adding reference numerals to the components of each drawing, it should be noted that the same reference numerals are used as much as possible even if displayed on different drawings. In addition, in describing the present invention, when 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 thereof will be omitted.

FIG. 1 is a block diagram schematically illustrating a configuration of a parking assisting device that assists parking and discharging according to a plurality of parking modes according to an exemplary embodiment of the present invention.

Parking assistance apparatus for assisting with parking and leaving according to a plurality of parking mode according to an embodiment of the present invention is an input / output device 110, obstacle detection unit 120, active steering device 130, electronically controlled braking device 140 ) And the main controller 150.

The input / output device 110 is an input / output means mounted on a vehicle to receive and transmit data from the driver, and output the transmitted data to the driver through a screen or the like. For this purpose, the input / output device 110 includes data input means such as a keyboard, a push button, a mouse, and data output means such as a liquid crystal display (LCD) and a cathode ray tube (CRT) monitor. desirable.

The input / output device 110 according to the preferred embodiment of the present invention receives data for designating a selection mode when the vehicle is parked or unloaded from the driver and transmits the data to the main controller 150.

In addition, the input and output device 110 according to a preferred embodiment of the present invention outputs through the output means provided when the data for the message, parking guide screen, exit guide screen, etc. for helping the driver's convenience from the main controller 150 do.

In addition, the input / output device 110 according to the preferred embodiment of the present invention does not necessarily need to be mounted in a vehicle, but may be provided in a remote controller possessed by a driver.

Obstacle detection unit 120 is attached to the vehicle detects the obstacle, and detects the distance to the detected obstacle to generate an electrical signal corresponding to the distance and transfer to the main controller 150, ultrasonic sensors, etc. It can be implemented as.

Active steering device 130 is a steering assistance means for assisting the steering of the vehicle by grasping the driving situation of the vehicle and the driver's driving intention, the electronic power steering (EPS), motor drive steering (MDPS: Motor Driven) The concept includes power steering, active front steering (AFS), and the like.

The active steering device 130 according to the preferred embodiment of the present invention steers the vehicle under the control of the main control device 150.

The electronically controlled brake device 140 is a brake control means for converting a braking state of a vehicle, and includes an anti-lock brake system (ABS), an automatic stability control (ASC) system, and a dynamic stability control ( DSC (Dynamic Stabilty Control) system.

The electronically controlled braking device 140 according to a preferred embodiment of the present invention senses the speed of the wheel and the moving distance of the vehicle and transmits it to the main controller 150, and moves the vehicle according to the control of the main controller 150. Limit your speed or brake your vehicle.

The main controller 150 is a control means for performing the main control of the parking assisting device, and may include a microprocessor and a memory.

Main controller 150 according to a preferred embodiment of the present invention is a key device of the parking assisting device for assisting the parking and unloading of the vehicle according to a plurality of parking mode according to the preferred embodiment of the present invention, the input and output device 110 When the driver receives a specific selection mode among a plurality of parking modes or a plurality of parking modes by the driver, the input / output device 110 outputs the parking guidance screen or the parking guidance screen corresponding to the specified specific selection mode. do.

In addition, the main control unit 150 according to a preferred embodiment of the present invention detects the obstacle and the distance between the vehicle and the obstacle around the vehicle using the obstacle detection unit 120, and parks the vehicle according to the specified specific selection mode When parking or leaving the space, it is determined whether the parking or leaving can be avoided by obstacles, and the result is output using the input / output device 110.

In addition, the main control unit 150 according to a preferred embodiment of the present invention, if the vehicle can park or avoid parking obstacles according to a specific selection mode specified, the vehicle will move to or out of the parking space When the collision avoiding obstacles can be calculated to calculate the collision avoidance path, the active steering device 130 and the electronically controlled braking device 140 is controlled to park or exit the vehicle according to the collision avoidance path.

Here, when the collision avoidance path is calculated, the main controller 150 calculates a steering angle for the vehicle to move according to the collision avoidance path, controls the vehicle to move by using the electronically controlled braking device 140, and then active steering. The device 130 controls the vehicle to be steered according to the calculated steering angle. In this process, the vehicle speed of the vehicle is sensed by using the electronically controlled braking device 140 and the electronically controlled braking device 140 is braked by the vehicle. By controlling to properly adjust the vehicle speed, the vehicle is controlled to park in or out of the parking space according to the collision avoidance path.

In addition, the main controller 150 according to a preferred embodiment of the present invention provides a guide screen for the progress of parking or leaving the vehicle when the vehicle moves along the collision avoidance path and parks in the parking space or leaves the parking space. The output is performed using the input / output device 110.

2 is a flowchart illustrating a parking assistance method for assisting parking and leaving according to a plurality of parking modes according to an exemplary embodiment of the present invention.

A driver who drives a vehicle equipped with a parking assistance device that assists parking and leaving according to a plurality of parking modes according to the preferred embodiment of the present invention described above with reference to FIG. At this time, after selecting one of various parking methods and discharging methods, the input / output device 110 of the parking assist device is operated to control the parking or discharging of the vehicle according to the selected parking method and discharging method. A specific selection mode corresponding to the selected parking method or the discharging method is input from the plurality of selectable selection modes (S210).

When the driver inputs a specific selection mode, the input / output device 110 notifies the main controller 150 that the specific selection mode is designated, and the main controller 150 detects an obstacle to park or exit the vehicle according to the specific selection mode. Using the unit 120 detects an obstacle around the vehicle and the distance between the vehicle and the obstacle (S220).

In this case, the main controller 150 outputs the parking guide screen or the departure guide screen using the input / output device 110 to guide the driver of the parking method or the exit method according to the specified specific selection mode before detecting the obstacle. Do.

The main controller 150 that detects an obstacle and detects a distance between the vehicle and the obstacle calculates a collision avoidance path for parking the vehicle in the parking space or leaving the parking space by avoiding the obstacle according to a specified specific selection mode (S230). ). Here, the main controller 150 may calculate the collision avoidance path by using one of various evasion path calculation functions that are commonly used. Computing the collision avoidance path using the avoidance path calculation function is a well-known technique and may obscure the gist of the present invention, and thus a detailed description thereof will be omitted.

The main controller 150 that has calculated the collision avoidance path checks whether or not the vehicle can be parked or unloaded in a specific selection mode specified according to the collision avoidance path without collision with an obstacle (S240). That is, since the main controller 150 understands the position of the obstacle and the distance between the vehicle and the obstacle and calculates the collision avoidance path, whether the vehicle is in danger of colliding with the obstacle when the vehicle moves along the collision avoidance path, When the vehicle moves along the collision avoidance path, it is checked whether the vehicle can park or exit by moving without colliding with the obstacle. This can be confirmed by checking whether or not an obstacle exists on the collision avoidance path of the vehicle.

The main controller 150 determines whether the vehicle can be parked or unloaded in a specific selection mode according to the collision avoidance path without colliding with the obstacle as shown in step S240, and according to the collision avoidance path without the collision with the obstacle. When the vehicle cannot be parked or unloaded, a guide message or a screen indicating that parking or unloading is impossible is output using the input / output device 110 (S242).

The main controller 150 determines whether the vehicle can be parked or unloaded in a specific selection mode according to the collision avoidance path without colliding with the obstacle as shown in step S240, and according to the collision avoidance path without the collision with the obstacle. If the vehicle can be parked or unloaded, the parking assist is performed by controlling the vehicle to park or exit according to the collision avoidance path in a specific selection mode by using the active steering device 130 and the electronically controlled braking device 140. (S250).

At this time, the main controller 150 outputs a result of checking whether the vehicle can park or exit in a specific selection mode according to the collision avoidance path without colliding with an obstacle on the screen by using the input / output device 110, so that the driver It is desirable to check whether parking or leaving is possible, and if parking or leaving is not possible, it is preferable to designate a different selection mode to park or discharge the vehicle in a different selection mode.

That is, the main controller 150 calculates a steering angle for causing the vehicle to move along the collision avoidance path, identifies the driving situation of the vehicle using the active steering device 130, and uses the electronically controlled braking device 140. After grasping the vehicle speed of the vehicle, the vehicle is moved using the electronically controlled braking device 140, and then the vehicle is controlled to steer the vehicle according to the calculated steering angle using the active steering device 130, and the vehicle has the calculated steering angle. When the vehicle moves to complete the parking in the parking space or complete the withdrawal from the parking space by braking the vehicle using the electronically controlled braking device 140, the parking assistance is performed.

Here, the main controller 150 may automatically control only the steering using the active steering device 130, and the movement and braking of the vehicle can be directly manipulated by the driver, the active steering device 130 and the electronically controlled braking device ( 140 may be controlled to automatically control steering, movement, and braking of the vehicle.

In addition, the main control unit 150 outputs a guide screen for the progress of parking or leaving the vehicle using the input / output device 110 in the process of performing parking assistance, as shown in step S250, thereby allowing the driver to present the current vehicle. It is a good idea to keep track of your progress.

3 is an exemplary view for explaining a selection mode according to a preferred embodiment of the present invention.

The selection mode according to a preferred embodiment of the present invention may be provided with at least one of a plurality of parking methods and a plurality of leaving methods of the vehicle. That is, there may be a plurality of methods for parking the vehicle in the parking space according to various combinations such as the inclination of the vehicle and the parking space, the direction in which the vehicle travels, and whether the vehicle is parked.

 For example, if the vehicle is in line with the parking space and the tilt is 0 °, the parking space is located in the forward direction of the vehicle, and the vehicle is parked, the parking method is "forward straight parking". . As another example, if the vehicle is in a position parallel to the parking space, the parking space is located in the backward direction of the vehicle, and the vehicle is parked, the parking method is "reverse parallel parking".

As such, the manner in which the vehicle parks in or leaves the parking space is a combination of at least one or more combinations of the inclination of the vehicle with the parking space, the direction in which the vehicle travels, and whether the vehicle is parked (eg, forward / reverse, parallel). / Right angle / inclination, a combination of each item among the parking / exit, etc.), in a preferred embodiment of the present invention is provided with a selection mode according to the various parking method or the exit method, a plurality of selection modes from the driver A specific selection mode is inputted to assist in parking or leaving the vehicle according to the specific selection mode.

3 illustrates an input unit provided in the input / output device 110 by way of example. The input / output device 110 includes four selection buttons 310 to 340 for inputting a specific selection mode among a plurality of selection modes, and a cancel button 350 for canceling designation of the specific selection mode, and each selection button 310. 340 to 340 include a left switch display window 360 and a right switch display window 370 capable of identifying a switch in the left and right directions whenever pressed by the driver.

On the other hand, each selection button operates in three detailed modes each time it is pressed by the driver. That is, for example, when the reverse parallel parking button 310 is pressed for the first time, the left turn display window 360 for identifying the left direction is activated to be in the state of "activating the left direction of the reverse parallel parking", and secondly, When pressed, the right turn display window 370 capable of identifying the right direction is activated to be in the state of "activating the right direction of the reverse parallel parking", and when pressed the third time, it is initialized to "cancel the reverse parallel parking". Of course, the order of these state transitions can be adjusted arbitrarily.

In addition, when the minimum button 350 is pressed in the "activating the left direction of the reverse parallel parking" state or the "activating the right direction of the reverse parallel parking" state, the selected specific selection mode is canceled and initialized.

3, the input / output device 110 selects buttons for four selection modes, that is, a reverse parallel parking button 310, a reverse perpendicular parking button 320, a reverse perpendicular parking button 330, and a forward perpendicular parking button 340. Although it has been shown and described as having a cancellation button 350, and will be described in the following description of the four selection modes, but this is just for convenience of description selection buttons for two or more various parking methods It may be provided.

4 is an exemplary view showing a parking guide screen and a parking guide screen according to a preferred embodiment of the present invention.

4A shows the parking guidance screen when "Parallel Parallel Parking" is selected as the specific selection mode. When the driver manipulates the backward parallel parking button 310 by operating the input / output device 110, "rear parallel parking" is selected as a specific selection mode, and the main controller 150 uses the input / output device 110 to display the 4A. Output the parking guidance screen as shown.

In this case, the driver of the input / output device 110 may repeatedly select the reverse parallel parking button 310 to select the left direction change or the right direction change, and select the left direction change to "activate the left direction of the reverse parallel park" state. In the case of, the screen as shown by the dotted line is output, and when the right direction switch is selected and the "right direction of the reverse parallel parking lot" is selected, the screen as shown by the solid line is output.

4B shows the parking guidance screen when "reverse right angle parking" is selected as the specific selection mode, 4C shows the parking guidance screen when "reverse right angle parking" is selected as the specific selection mode, and 4D shows "advancing right-angle parking". "Is the parking guidance screen when the selected mode is selected.

Also in each case of "reverse right angle parking", "reverse right angle parking", and "forward right angle parking" shown through 4B, 4C, and 4D, each selection mode according to the left direction switching or the right direction switching, as described above through 4A. A screen as shown by a dashed line and a solid line is output in the left direction activation state or the right direction activation state of respectively.

5 is an exemplary view for explaining a process of detecting an obstacle according to a preferred embodiment of the present invention.

As described above with reference to FIG. 3, when the driver operates the input / output device 110 and selects a specific selection mode from among a plurality of selection modes, the main controller 150 controls the input / output device 110 as described above with reference to FIG. 4. Outputs a parking guide screen or a departure guide screen by using, and detects obstacles around the vehicle using the obstacle detection unit 120 to detect the distance between the vehicle and the obstacle.

5A shows an obstacle detection when the reverse parallel parking mode is selected as a specific selection mode.

Assuming that the obstacle detection unit 120 is attached to both sides of the front of the vehicle, when the vehicle proceeds forward with the "reverse parallel parking" selected as the specific selection mode, the obstacle detection unit 120 is shown in 5A. Similarly, the two vehicles and the wall indicated by solid lines are detected as obstacles, and the distance between the two vehicles and the distance to the wall in the space of the two vehicle companies are sensed to identify the area of the empty parking space. The parking space thus identified is utilized by the main controller 150 to calculate the collision avoidance path.

5B shows an obstacle detection when the backward perpendicular parking is selected as the specific selection mode, and 5C shows an obstacle detection when the backward right parking is selected as the specific selection mode.

In the case of the backward perpendicular parking shown in 5B, the distance between the obstacle and the obstacle and the parking space in the case of the backward parallel parking described above through 5A is the same. In this state, the obstacle detecting unit 120 detects a vehicle parked on both sides as an obstacle and detects a distance between the present vehicle and a vehicle recognized as an obstacle, and calculates a collision avoidance path using the same.

As described above, in the present invention, by mounting the vehicle in the parking space or the parking method of various vehicles that can occur when leaving the parking space in the parking assistance device as a selection mode so that the driver can select In addition, the parking assist device may assist the movement of the vehicle so that the driver may select the parking method or the discharging method to park or disengage the vehicle by the selected method.

In addition, when a specific parking method, that is, a specific selection mode, is selected by the driver in this process, the driver is provided with a parking guidance screen or a departure guide screen for the driver so that the driver can recognize in advance how the vehicle will be parked or unloaded. By doing so, the driver's anxiety can be solved and the vehicle can be driven safely.

In addition, in this process, the parking assisting apparatus according to a preferred embodiment of the present invention detects an obstacle around the vehicle, and determines whether the driver can park or unload the vehicle without colliding with the obstacle, thereby informing the driver, Safe driving of the vehicle can be promoted by selecting a different selection mode to park by a different parking method or by checking whether the selected parking method can safely park or unload.

Also, during this process, the parking assistance device shows the driver a progress screen about the process of parking or leaving the vehicle so that the driver can recognize that the vehicle is moving safely or directly avoid unexpected obstacles. By doing so, the driver's anxiety can be solved and an unexpected accident can be prevented.

The above description is merely illustrative of the technical idea of the present invention, and those skilled in the art to which the present invention pertains may make various modifications and changes without departing from the essential characteristics of the present invention. Therefore, the embodiments disclosed in the present invention are not intended to limit the technical idea of the present invention but to describe the present invention, and the scope of the technical idea of the present invention is not limited by these embodiments. The protection scope of the present invention should be interpreted by the following claims, and all technical ideas within the equivalent scope should be interpreted as being included in the scope of the present invention.

1 is a block diagram schematically illustrating a configuration of a parking assisting device assisting parking and leaving according to a plurality of parking modes according to an exemplary embodiment of the present invention;

2 is a flowchart illustrating a parking assistance method for assisting parking and leaving according to a plurality of parking modes according to a preferred embodiment of the present invention;

3 is an exemplary view for explaining a selection mode according to a preferred embodiment of the present invention;

4 is an exemplary view showing a parking guide screen and a parking guide screen according to a preferred embodiment of the present invention;

5 is an exemplary view for explaining a process of detecting an obstacle according to a preferred embodiment of the present invention.

<Description of Symbols for Main Parts of Drawings>

110: input and output device 120: obstacle detection unit

130: active steering device 140: electronically controlled braking device

150: main controller 310: reverse parallel parking button

320: backward right parking button 330: backward right parking button

340: forward right parking button 350: cancel button

Claims (13)

An apparatus comprising an active steering device, an electronically controlled braking device, and an obstacle detecting unit, and assisting a vehicle to park in or out of a parking space, An input / output device for designating a specific selection mode among a plurality of selection modes; And When the specific selection mode is selected using the input / output device, the main control unit controls the vehicle to park or exit according to the specific selection mode by using the active steering device and the electronically controlled braking device. Parking assistance device for assisting with parking and leaving according to a plurality of parking mode, characterized in that it comprises a. According to claim 1, wherein the main controller, A parking assist device for assisting with parking and discharging according to a plurality of parking modes, characterized in that for outputting a parking guide screen or a parking guide screen according to the specific selection mode using the input / output device. According to claim 1, wherein the main controller, Calculating a collision avoidance path for parking or leaving the vehicle according to the specific selection mode, and controlling the vehicle to move along the collision avoidance path using the active steering device and the electronically controlled braking device; A parking assist device for assisting with parking and discharging according to a plurality of parking modes. According to claim 1, wherein the main controller, The active steering device detects a distance between the obstacle and the obstacle around the vehicle using the obstacle detecting unit, and only when the vehicle can park or exit without colliding with the obstacle according to the specific selection mode. And the parking assisting device according to the plurality of parking modes, wherein the vehicle is controlled to park or exit according to the specific selection mode by using the electronically controlled braking device. The method of claim 1, wherein the plurality of selection modes, And a parking assist device for assisting with parking and discharging according to a plurality of parking modes, characterized in that at least one of a plurality of parking methods and a plurality of discharging methods of the vehicle. The method of claim 1, wherein the plurality of selection modes, A parking assist device for assisting with parking and discharging according to a plurality of parking modes, characterized in that the combination of any one or more of the inclination of the degree of inclination between the vehicle and the parking space, the traveling direction of the vehicle and whether the parking. The method of claim 1, wherein the plurality of selection modes, A parking assist device for assisting with parking and discharging according to a plurality of parking modes, characterized in that the reverse parallel parking, the reverse perpendicular parking, the reverse vertical parking and the forward vertical parking. The method of claim 1, wherein the input and output device, Parking assisting parking and leaving according to a plurality of parking mode, characterized in that it comprises a plurality of selection buttons for receiving the specific selection mode of the plurality of selection modes and a cancel button for canceling the designation of the specific selection mode Auxiliary devices. The method of claim 1, wherein the input and output device, And a parking assist device for assisting with parking and discharging according to a plurality of parking modes, wherein the vehicle outputs a progress state while the vehicle is parked or unloaded. In a parking assist device including an input / output device, an obstacle detecting unit, an active steering device, an electronically controlled braking device, and a main control device, the method for assisting a vehicle to park in or out of the parking space, (a) receiving a specific selection mode among a plurality of selection modes by using the input / output device; (b) detecting an obstacle around the vehicle and a distance between the vehicle and the obstacle using the obstacle detecting unit; (c) calculating a collision avoidance path, which is a path for parking or leaving the vehicle by avoiding the obstacle according to the specific selection mode; (d) checking whether the vehicle can be parked or unloaded along the collision avoidance path without colliding with the obstacle; And (e) When the vehicle can be parked or unloaded along the collision avoidance path without colliding with the obstacle, the vehicle parks along the collision avoidance path by using the active steering device and the electronically controlled braking device. Controlling to Release Parking assistance method for assisting with parking and leaving according to a plurality of parking mode comprising a. The method of claim 10, wherein the parking assistance method, After step (a) above, (a1) a parking assistance method for assisting with parking and leaving according to a plurality of parking modes, further comprising the step of outputting a parking guide screen or a departure guide screen according to the specific selection mode using the input / output device. . The method of claim 10, wherein the parking assistance method, After step (d) above, and (d1) outputting whether or not the vehicle can be parked or unloaded along the collision avoidance path without colliding with the obstacle by using the input / output device. Parking assistance method to assist with parking and leaving. The method of claim 10, wherein the parking assistance method, After step (e), (f) a parking assistance method for assisting with parking and leaving according to a plurality of parking modes, further comprising the step of outputting a guide screen on the progress of parking or leaving the vehicle by using the input / output device. .

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