KR20090080769A - Method and Apparatus for Securing Parking Space by Using Parking Assistant Function - Google Patents

Abstract

A method and an apparatus for securing a parking space are provided to perform an accurate park by setting an intersection point of a line for sensing an obstacle and a line for sensing a change of an empty space as a corner point of a parking space. A distance sensor(132) detects a distance from an obstacle. A main control part(110) receives an input signal about a mode for securing a parking space. The main control part forms sensing points about an obstacle or an empty space by driving the distance sensor. The main control part sets a line for sensing the obstacle and an empty space region by combining the sensing points about the obstacle or the empty space. The main control part converts both end points of the empty space region into real detection points. The main control part sets a line for sensing a change of the empty space by connecting the real detection points. The main control part extracts an intersection point of the line for sensing the obstacle and the line for sensing a change of the empty space, and sets a corner point of a parking space. The main control part secures the parking space by using the corner point.

Description

Method and Apparatus for Securing Parking Space by Using Parking Assistant Function

The present invention relates to a method and apparatus for securing a parking space by using the parking assistance function. More specifically, in the process of parking by using the vehicle parking assistance function, using the distance sensor to form the detection point for the obstacle or the empty space, by combining the detection point to set the obstacle detection line and the empty space area By using the actual detection point of the empty space area, the empty space change detection line is set, and the intersection of the obstacle detection line and the empty space change detection line is set as the corner point of the parking space, so that the parking assistance function can perform accurate parking. A method and apparatus for securing a parking space by using the same.

In general, while normal driving is relatively easy for a driver, parking manipulation in a narrow space is not easily acquired, and contact accidents are frequently generated.

Therefore, a device for automatically assisting the parking of a vehicle has been proposed for a long time, and even more advanced parking assistance devices have been developed using electronic devices.

Representatively, US Patent No. US7012550 discloses a parking assist device that automatically assists the steering of a vehicle by using a camera mounted at the rear of the vehicle when the driver parks the vehicle. International Patent Publication WO2005 / 120932 uses a side distance sensor. Disclosed is a vehicular parking assist device for assisting a driver's parking.

However, in the process of detecting an obstacle using a distance sensor, the conventional parking assist device detects the distance between the obstacle and the sensor even when the actual obstacle and the sensor are not in the vertical position, so it is impossible to accurately determine the actual detection point near the corner. There are disadvantages.

In order to solve the above problem, the present invention, in the process of parking by using the vehicle parking assistance function, forming the detection points for the obstacle or the empty space using the distance sensor, by combining the detection points obstacle detection line And the empty space area, the empty space change detection line is set using the actual detection point of the empty space area, and the intersection of the obstacle detection line and the empty space change detection line is set as the corner point of the parking space, thereby performing accurate parking. An object of the present invention is to provide a method and apparatus for securing a parking space by using a parking assist function.

The present invention to achieve the above object, the distance sensor for sensing the distance to the obstacle in the near; And receiving an input signal for the parking space securing mode, driving the distance sensor to form detection points for the obstacle or empty space, combining the detection points to set an obstacle detection line and an empty space area, and The sensor characteristic is applied to both end points of the empty space area to convert the actual detection point, the empty detection point is set by connecting the actual detection point with a vertical line, and the intersection point of the obstacle detection line and the empty space change detection line is extracted. By setting a corner point of the parking space, and using the corner point to provide a device for securing a parking space using a parking assistance function comprising a main control unit to secure the parking space.

In addition, according to another object of the present invention, (a) receiving an input signal for the parking space secured mode; (b) driving distance sensors to form detection points for obstacles or voids; (c) setting the obstacle detection line and the empty space by combining the detection points; (d) applying sensor characteristics to both end points of the empty space area and converting the detected points into actual detection points; (e) setting an empty space change detection line by connecting the actual detection point with a vertical line; (f) setting corner points of the parking space by extracting intersections of the obstacle detection line and the empty space change detection line; And (g) securing the parking space using the corner point.

As described above, according to the present invention, in the process of parking by using the vehicle parking assistance function, detection points for obstacles or empty spaces are formed using a distance sensor, and the detection points are combined by combining the detection points. By setting the empty space area, setting the empty space change detection line using the actual detection point of the empty space area, and setting the intersection of the obstacle detection line and the empty space change detection line as the corner point of the parking space, accurate parking can be performed. It can be effective.

In addition, according to the present invention, since the actual detection point can be accurately identified in the process of assisting parking, the driver can park more safely.

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 the detailed description of the related well-known configuration or function may obscure the gist of the present invention, the detailed description thereof will be omitted.

1 is a block diagram schematically illustrating an apparatus for securing a parking space by using a parking assistance function according to an exemplary embodiment of the present invention.

Apparatus for securing a parking space using the parking assistance function according to an embodiment of the present invention is the main control unit 110, key input unit 120, parking assistance unit 130, braking unit 140, steering unit 150 , The display unit 160 and the vehicle speed sensor 170.

The main controller 110 is a module that controls the overall operation of steering and braking of the vehicle, and may be implemented as a microprocessor.

The main control unit 110 according to an embodiment of the present invention receives an input signal for the parking space securing mode from the key input unit 120, drives the distance sensor 132 to form detection points for obstacles or empty spaces. Set the obstacle detection line and the empty space by combining the detection points, apply the sensor characteristics to both end points of the empty space area, and convert it to the actual detection point. It sets the corner point of the parking space by extracting the intersection point of the obstacle detection line and the empty space change detection line, and secures the parking space by using the corner point. Here, the sensor characteristic represents the difference between the sensor vertical detection point and the sensor maximum detection angle point.

In addition, the main control unit 110 according to an embodiment of the present invention sets a point including the maximum sensing distance 910 among the sensing points as an empty space region as shown in FIG. 9, or a short distance 930 among the sensing points. If the distance between the distance 920 and the distance is greater than the threshold value can be set to the empty space area.

The key input unit 120 is an input unit that performs a function of receiving various commands of the driver including a command related to automatic parking of the vehicle and transmitting the received commands to the main controller 110.

The parking assistant 130 performs a function of assisting the parking according to the detection of the surrounding obstacles of the vehicle and the availability of the parking, and includes a distance sensor 132, a direction sensor 134, a reference position detector 136, and an engine capability controller. 138 and the shifting unit 139.

The distance sensor 132 is a sensor that performs a function of detecting a distance from an obstacle in a short distance. That is, the detection of the distance can be implemented by the vehicle speed sensor 170 provided in the existing vehicle, which is used in the proximity alarm of the vehicle to prevent the performance of the vehicle speed sensor 170 and collision with obstacles in the near distance. In addition, the ultrasonic sensor is used as the distance sensor 132 to detect and detect an empty parking space between the vehicle and the vehicle.

These ultrasonic distance sensors 132 are respectively installed on both sides of the front and rear bumpers to detect distances from obstacles in the near distance, and use the distance sensors 132 provided on both sides of the front bumper or separately at appropriate positions on both sides of the vehicle. It is installed to detect and detect the empty parking space between the vehicle and the vehicle parked on both sides of the vehicle, the distance sensor 132 is also installed in the rear of the vehicle to detect the distance between the host car and the following car.

The direction sensor 134 is a module that detects a moving direction at a current position of the vehicle. The direction sensor 134 is a geomagnetic sensor that detects the absolute direction of the vehicle in a current vehicle navigation system or a gyro for detecting a relative direction according to the movement of the vehicle. It can be implemented as a sensor.

Reference position detection unit 136 is a module that performs a function to detect a reference position when the automatic parking guidance, it is made by mounting a photo coupler on the lower side of both sides of the vehicle body and the bottom of the front bumper, respectively, in place of the entrance of the parking lot Reflective markings for providing the width and the front end of the vehicle are provided to provide the main control unit 110 with a detection signal indicating when the vehicle body is accurately positioned on the marking.

The engine capacity adjusting unit 138 performs a function of adjusting the engine capacity according to the control of the main control unit 110.

The engine capacity control unit 138 controls the engine capacity by controlling the amount of fuel and air supplied to the engine, it can be implemented as an actuator and related mechanism components, such as solenoids or motors.

The transmission unit 139 performs a function of controlling the reduction ratio of the engine and the wheel under the control of the main control unit 110.

The transmission unit 139 is required for automatically shifting or reversing the reduction ratio of the engine and the wheel to the largest value, that is, the lowest stage, under the control of the main control unit 110. This is also implemented with actuators such as solenoids and associated instrument components.

The braking unit 140 performs a function of automatically driving the brake of the vehicle under the control of the main control unit 110.

The braking unit 140 is required to automatically operate the brakes when there is an obstacle on the parking path under the control of the main control unit 110 or at the time of stopping for steering, an actuator such as a solenoid or a motor and the like. It is implemented with the relevant instrument components.

In addition, the braking unit 140 may include a brake control system such as an anti-lock brake system (ABS), a transaction control system (TCS), an electronic stability control (ESC), and the like.

The steering unit 150 controls the movement direction of the vehicle under the control of the main control unit 110.

The steering unit 150 rotates the steering shaft left and right in order to move the vehicle body in a desired direction. The steering unit 150 is implemented by a motor capable of forward and reverse rotation and a related mechanical component.

In addition, the steering unit 150 may include a steering system such as motor driven power steering (MDPS) and active front steering (AFS).

The display unit 160 is a display means for outputting and displaying voice, music, or video, and includes a screen display unit 162 and an audio output unit 164.

The screen display unit 162 may be implemented by mounting a liquid crystal display on the front of the driver's seat inside the vehicle. The voice output unit 164 includes a voice data storage unit for storing related speech phrases as a binary signal in a segmented form, and an output unit for converting and outputting a binarized signal stored in the voice data storage unit.

The vehicle speed sensor 170 performs a function of detecting a moving speed of the vehicle, and the wheel speed sensor 180 performs a function of detecting a wheel speed between wheels of the vehicle.

2 is a flowchart illustrating a method for securing a parking space by using the parking assistance function according to an exemplary embodiment of the present invention.

The main control unit 110 checks whether or not a command for the parking space securing mode is input from the key input unit 120 (S210).

That is, when the vehicle enters the parking lot and the driver wants to park, the main controller 110 checks whether the command for the parking space securing mode is input by the driver's manipulation or command from the key input unit 120. It is.

As a result of checking in step S210, when a command for the parking space securing mode is input, the main control unit 110 forms the detection points for the obstacle or the empty space using the distance sensor 132 (S220).

Here, as an example for the process of securing the parking space, the main control unit 110, when the command for the parking space secured mode is input from the key input unit 120, as shown in FIG. The distance sensor 132 installed on both sides of the vehicle is driven, and the distance L between the parked vehicle 310 and the vehicle 320 and the depth of the parking space based on the distance data provided from the distance sensor 132 ( D) is calculated, and based on the calculation, it is determined whether there is a parking space relative to the size of the vehicle, and if there is a parking space, the right angle parking is performed as shown in (a) based on the distance (L) and the depth (D) data. It may be determined whether the space is a parallel parking space such as (b).

In addition, the main control unit 110 is to use the combination of the location information of the host vehicle 300 and the distance information coming from the distance sensor 132 and the characteristics of the sensor in order to detect the parking space L with the distance sensor 132. .

First, position information of the host vehicle 300 is obtained using a steering angle sensor and a wheel speed sensor 180 mounted in the vehicle. The amount of change in the heading, X position, and Y position of the host vehicle 300 is calculated as wheel steering angle information Φs from the steering angle sensor and movement distance information S of the non-driven wheel from the wheel speed sensor 180 as shown in FIG. Its integration value can know the position information (Heading, X position, Y position) of the host vehicle 300. At this time, the steering angle value is obtained from the active steering device of the steering unit 150 and the wheel speed sensor sensor signal is obtained from the electronically controlled braking device of the brake unit 140.

Further, the lower wheel steering angle or the turning radius of the vehicle compared to the driver steering angle of the vehicle steering angle (steering wheel steering angle) of the vehicle may be used as a table through experiments as a characteristic of the vehicle.

As described above, after determining the position of the host vehicle 300, the position of the obstacle may be determined from the position information of the host vehicle and the distance sensor 132. Here, it is assumed that only 1 dimesional vertical distance value is used, ignoring the characteristics of the sensor.

As shown in (a) of FIG. 5, the sensor is mounted at an angle of θs on the side of the vehicle at the position x _s and y _s at the vehicle reference point O. In the measurement, the obstacle detection points A and B at the host vehicle a position and the host vehicle b position may be calculated as in Equation 1.

When the obstacle detection point is displayed at all positions on the host vehicle path, it is displayed as shown in FIG. However, the obstacle detection point is relative to the initial position on the system.

Here, the obstacle detection point is limited to the maximum sensing distance of the distance sensor 132 as the area indicated by the dotted circle in FIG. 5C. That is, according to the distance from the host vehicle 300, it can be divided into an obstacle and an empty space as shown in FIG.

On the other hand, in the case of a sensor that provides only “1 Dimesional vertical distance value” such as a laser sensor, all the positions of obstacles can be grasped by the above-described process, but the distance detection angle of the sensor is an example or more, as shown in FIG. 7A. In the case of a sensor having a detection range of (eg, an ultrasonic sensor), the distance between the obstacle and the sensor is detected even though the actual obstacle and the sensor are not in the vertical position as shown in FIG. As shown in the figure, when using the obstacle detection using the “1 Dimesional vertical distance value”, the actual detection point cannot be accurately identified near the corner.

The main control unit 110 sets an obstacle detection line by using points forming a straight line among the detection points for the obstacle (S230).

That is, when the host vehicle 300 proceeds as shown in FIG. 8A and the parking space proceeds while measuring the distance with a distance sensor having a predetermined detection angle, the detection point obtained is as shown in FIG. 8B.

At this time, the obstacle detection line is synthesized and the obstacle detection line is set as shown in FIG.

The main control unit 110 sets a point including the maximum sensing distance among the sensing points as an empty space area (S240).

Of course, step S240 is merely illustrative of the technical idea of the present invention, if the person skilled in the art to which the present invention belongs, the main controller 110 detects the range within the essential characteristics of the present invention If the distance between the short distance and the long distance among the points differs by more than the threshold value, it may be applied to various modifications and modifications by setting the empty space area.

That is, when the host vehicle 300 proceeds as shown in FIG. 8A and the parking space proceeds while measuring the distance with a distance sensor having a predetermined detection angle, the detection point obtained is as shown in FIG. 8B.

The main control unit 110 analyzes the detection points formed by driving the distance sensor 132 to set the empty space area, and determines that the maximum detection distance 910 is included as shown in FIG. 9A among the detection points. After extraction, the maximum detection distance 910 is set as an empty space or as shown in FIG. 9B, a short distance 930 and a long distance 920 are extracted from the detection points, and then a short distance 930 and a long distance If the distance value of 920 differs by more than a threshold value, it may be set as an empty space area.

The main control unit 110 converts the detection point into actual detection points by applying sensor characteristics to both end points of the empty space region (S250).

The main control unit 110 sets the empty space change detection line by connecting the converted actual detection point with a vertical line (S260).

That is, when the empty space area and the obstacle detection line are determined, as shown in (c) of FIG. 8, both end points of the empty space area are converted into detection end points (actual detection points) of the sensor (purple dotted circle) and both ends of the empty space area. The empty space detection line is set according to the vertical line of the point, and the empty space change detection line is set by connecting the actual detected point converted to the empty space conversion point with the vertical line.

The main control unit 110 extracts the intersection point of the obstacle monitoring line and the empty space change detection line and sets the corner point of the parking space (S270).

That is, when the obstacle detection line and the empty space change detection line are set, the main control unit 110 determines the intersection of the two lines as the corner point of the parking space.

As described above, as shown in FIG. 3, two corners C1 and C2 of the parking space required by the parking assistance apparatus may be recognized.

The main control unit 110 assists parking by using the corner point of the set parking space (S280).

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 showing an apparatus for securing a parking space using a parking assistance function according to an embodiment of the present invention;

2 is a flowchart illustrating a method for securing a parking space using a parking assistance function according to an embodiment of the present invention;

3 to 9 are exemplary views for explaining a method for securing a parking space by using the parking assistance function according to an embodiment of the present invention.

<Description of Symbols for Main Parts of Drawings>

110: main controller 120: key input unit

130: parking assistance 140: braking

150: steering unit 160: display unit

170: vehicle speed sensor 180: wheel speed detection sensor

Claims (4)

A distance sensor for sensing a distance to an obstacle at a short distance; And Receives an input signal for the parking space securing mode, drives the distance sensor to form detection points for the obstacle or the empty space, sets the obstacle detection line and the empty space area by combining the detection points, The sensor characteristic is applied to both end points of the spatial domain to convert the actual detection point, the empty detection point is set by connecting the actual detection point with a vertical line, and the intersection point of the obstacle detection line and the empty space change detection line is extracted. A main control part that sets a corner point of the parking space and secures the parking space by using the corner point. Apparatus for securing a parking space using the parking assistance function, comprising a. The method of claim 1, The main fisherman, Apparatus for securing a parking space by using a parking assistance function, characterized in that the point set to the empty space area including the maximum sensing distance of the detection points. The method of claim 1, The main fisherman, The apparatus for securing a parking space by using the parking assistance function, when the distance between the short distance and the long distance among the detection points differ by more than a threshold value. (a) receiving an input signal for the parking space securing mode; (b) driving distance sensors to form detection points for obstacles or voids; (c) setting the obstacle detection line and the empty space region by combining the detection points; (d) applying sensor characteristics to both end points of the empty space area and converting the detected points into actual detection points; (e) setting an empty space change detection line by connecting the actual detection point with a vertical line; (f) setting corner points of the parking space by extracting intersections of the obstacle detection line and the empty space change detection line; And (g) securing the parking space by using the corner point Method for securing a parking space using the parking assistance function, characterized in that it comprises a.

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