KR20120069052A - Parking control system of vehicle - Google Patents

Abstract

PURPOSE: A parking control system of a vehicle is provided to reduce or prevent collision rate by reducing car speed in case distance between an object and the vehicle is within reference value. CONSTITUTION: A parking control system of a vehicle comprises a distance measuring part, a vehicle speed sensor, a cornering force feed port, and a controlling unit. The distance measuring part outputs distance information by measuring distance between an object and the vehicle. The vehicle speed sensor outputs vehicle signal by measuring car speed. The cornering force feed port provides adjusting force for turning steering wheels in case of automatic parking. The controlling unit calculates parking width by being input distance information from the distance measuring part.

Description

Parking Control System of Vehicle

The present invention relates to a parking control system of a vehicle.

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 can only be reduced. In order to solve the lack of parking spaces, a single vehicle can be parked. Parking lot is 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. Accordingly, recently, a parking control system is mounted on a vehicle to automatically assist the vehicle by steering the vehicle when the vehicle is parked in a parking space.

Since the parking control system moves the vehicle toward the target point during the parking control, there is a risk of collision with the target objects. Accordingly, there is an increasing demand for a parking control system that can reduce or prevent the risk of collision between the host vehicle and a target object during parking control.

In this background, it is an object of the present invention to provide a parking control system that can reduce the possibility of collision with an object during automatic parking.

The present invention provides a distance measuring unit for outputting a distance information signal by measuring a distance between the host vehicle and an object, a vehicle speed sensor measuring a vehicle speed of the host vehicle and outputting a vehicle speed signal, and steering force for rotation of a steering wheel during the automatic parking of the host vehicle. Calculates the width of the parking space by receiving a distance information signal from the steering force supply unit and the distance measuring unit for supplying a target, calculates a driving trajectory by setting a target point coordinate inside the parking space where the parking of the own vehicle is completed, and the steering force supply unit Supply steering force to move the host vehicle toward a target point according to the driving trajectory, and when the distance between the host vehicle and the object is smaller than a reference distance when the host vehicle moves along the driving trajectory Outputting a vehicle speed reduction signal for reducing the speed of the host vehicle according to the vehicle speed of the vehicle speed signal; Includes fisherman.

The control unit may determine a deceleration rate of the vehicle speed according to the vehicle speed when the distance to the object is smaller than the reference distance, and output a vehicle speed reduction signal so that the vehicle speed is decelerated according to the deceleration rate.

The deceleration rate may increase as the vehicle speed becomes greater when the distance from the object becomes smaller than the reference distance.

The controller receives a distance information signal from the distance measuring unit and compares the distance between the host vehicle and the object and the limit distance. When the distance between the host vehicle and the object is smaller than the limit distance, the controller provides a stop signal. You can print

The controller may prevent the acceleration of the host vehicle even if the driver presses the accelerator pedal after a time when the distance between the host vehicle and the object becomes smaller than the reference distance.

The parking control system of the present invention can reduce or prevent the possibility of collision between the host vehicle and the object by reducing the vehicle speed when the distance between the host vehicle and the object is within a reference value during the automatic parking process.

1 shows a parking control system according to an embodiment of the present invention.
2 shows the operation of the parking control system according to the embodiment of the present invention.
3 illustrates a vehicle speed control process of the parking control system according to an exemplary embodiment of the present invention.

Hereinafter, some embodiments of the present invention will be described in detail through exemplary drawings. In adding reference numerals to the components of each drawing, it should be noted that the same reference numerals are assigned to the same components as much as possible even though they are shown in different drawings. In the following description of the present invention, a detailed description of known functions and configurations incorporated herein will be omitted when it may make the subject matter of the present invention rather unclear.

In addition, in describing the component of this invention, terms, such as 1st, 2nd, A, B, (a), (b), can be used. These terms are intended to distinguish the constituent elements from other constituent elements, and the terms do not limit the nature, order or order of the constituent elements. If a component is described as being "connected", "coupled" or "connected" to another component, that component may be directly connected to or connected to that other component, but there may be another configuration between each component. It is to be understood that the elements may be "connected", "coupled" or "connected".

1 shows a parking control system according to an embodiment of the present invention. As shown in FIG. 1, the parking control system according to an exemplary embodiment of the present invention includes a distance measuring unit 110, a vehicle speed sensor 120, a steering force supply unit 130, a gear position sensor 140, and a controller 150. Include.

The distance measuring unit 110 outputs a distance information signal by measuring the distance between the host vehicle and an object when the host vehicle moves forward or backward. To this end, the distance measuring unit 110 may include a laser sensor or an ultrasonic sensor.

The vehicle speed sensor 120 measures the vehicle speed of the host vehicle and outputs a vehicle speed signal. In an embodiment of the present invention, the vehicle speed sensor 120 may include a wheel speed sensor, but is not limited thereto. The wheel speed sensor outputs a pulse signal corresponding to a magnetic field change between the rotor and the pole piece rotating together with the wheel, and the vehicle speed sensor 120 may calculate the speed of the host vehicle according to the number of pulses.

The steering force supply unit 130 supplies steering force for rotation of a steering wheel during auto parking of the own vehicle. The steering force supply unit 130 in the embodiment of the present invention may include an electric power steering device (Electric Power Steering Apparatus) or an electronic controlled power steering device (Electronic Controlled Power Steering Apparatus), in addition to the various power steering device can do.

The gear position sensor 140 outputs a gear position signal corresponding to the current position of the gear.

The controller 150 receives the distance information signal from the distance measuring unit 110, calculates the width of the parking space, calculates the driving trajectory by setting a target point coordinate inside the parking space where the parking of the own vehicle is completed, and the steering force supply unit ( 130) to supply steering force so that the host vehicle moves toward the target point according to the driving trajectory, and when the vehicle is moved along the driving trajectory when the distance to the object is smaller than the reference distance, the vehicle speed signal received from the vehicle speed sensor 120 Outputs a vehicle speed reduction signal for reducing the speed of the host vehicle according to the vehicle speed.

The braking unit 160 may reduce the vehicle speed by receiving a vehicle speed reduction signal from the controller 150 and supplying hydraulic pressure to a wheel cylinder (not shown). In an embodiment of the present invention, the vehicle speed is reduced by the braking unit 160, but is not limited thereto. For example, the amount of opening of the throttle valve may be controlled according to the vehicle speed reduction signal, thereby reducing the vehicle speed.

Next, with reference to the drawings will be described in detail the operation of the automatic parking control system according to an embodiment of the present invention.

2 shows the operation of the parking control system according to the embodiment of the present invention.

The controller 150 causes the distance measuring unit 110 to scan the target objects. Accordingly, the distance measuring unit 110 outputs a distance information signal corresponding to the distance between the host vehicle and the target object in the scanning process. The controller 150 receives the distance information signal from the distance measuring unit 110 to detect the edge of the target object and calculates the width of the parking space by calculating the distance between the edges of adjacent target objects.

When the recognition of the parking space is completed, the controller 150 checks the current gear position on the basis of the gear position signal received from the gear position sensor 140, and the controller 150 if the gear position does not match the way of automatic parking. Induce the driver to the proper gear position. As such, the position of the gear is changed to match the automatic parking and automatic parking is performed.

In an embodiment of the present invention, automatic parking may be made in various ways. For example, the automatic parking may be performed in two steps including a forward operation in which the host vehicle moves toward the parking space after the vehicle is moved away from the parking space after the parking space is recognized. In addition, after the parking space is recognized, the automatic parking may be performed in three steps including a backward operation in which the host vehicle moves toward the object, a forward operation in which the host vehicle moves away from the parking space, and a backward operation in which the host vehicle moves toward the parking space.

The controller 150 sets a point where the movement of the own vehicle starts to the parking space as reference point coordinates of the own vehicle, and sets a target point coordinate inside the parking space where the parking of the own vehicle is completed. In addition, the controller 150 calculates the driving trajectory using the reference point coordinates and the target point coordinates. Then, the controller 150 causes the steering force supply unit 130 to supply the steering force so that the host vehicle moves toward the target point according to the driving trajectory. In an embodiment of the present invention, the reference point coordinates of the host vehicle may be the center of the front wheel axis or the rear wheel axis of the host vehicle.

As described above, the host vehicle may collide with an object around the parking space as shown in FIG. 2. At this time, the controller 150 receives the movement distance signal from the distance measuring unit 110 and determines whether the distance to the object is smaller than the reference distance.

When the distance to the object is smaller than the reference distance, the controller 150 outputs a vehicle speed reduction signal for reducing the speed of the host vehicle according to the vehicle speed of the vehicle speed signal received from the vehicle speed sensor 120.

For example, as shown in FIG. 3, the controller 150 determines the deceleration rates of the vehicle speeds according to the vehicle speeds v1, v2, and v3 when the distance from the object becomes smaller than the reference distance. Therefore, the vehicle speed reduction signal is output so that the vehicle speed is decelerated.

The braking unit 160 receiving the vehicle speed reduction signal reduces the vehicle speed according to the deceleration rate determined by supplying hydraulic pressure to the wheel cylinder. In addition, as described above, the vehicle speed may be reduced according to the deceleration rate determined by controlling the opening amount of the throttle valve instead of the braking unit 160.

On the other hand, as shown in Figure 3, in the embodiment of the present invention, the larger the vehicle speed at the time when the distance to the object is smaller than the reference distance may be a large deceleration rate. That is, since the reference distance may be constant, if the vehicle speed is large when the distance from the object becomes smaller than the reference distance, the deceleration should be performed quickly to prevent the collision with the object.

In the process of reducing the speed of the host vehicle by the parking control system according to an exemplary embodiment of the present invention, the controller 150 receives the distance information signal from the distance measuring unit 110 and compares the distance between the host vehicle and the object and the limit distance. If the distance between the host vehicle and the object is smaller than the threshold distance, the controller 150 outputs a stop signal. The braking unit 160 receiving the stop signal stops the host vehicle by supplying the corresponding hydraulic pressure to the wheel cylinder. In an embodiment of the present invention, the limit distance may be a minimum distance capable of preventing collision between the host vehicle and the object.

In addition, the controller 150 may control a throttle valve or the like to prevent acceleration of the host vehicle even when the driver presses the accelerator pedal after a point where the distance between the host vehicle and the object becomes smaller than the reference distance.

As described above, the parking control system according to the embodiment of the present invention reduces or prevents the possibility of collision between the host vehicle and the object by reducing the vehicle speed when the distance between the subject vehicle and the object is within a reference value during the automatic parking process. Can be.

In the above description, all elements constituting the embodiments of the present invention are described as being combined or operating in combination, but the present invention is not necessarily limited to the embodiments. In other words, within the scope of the present invention, all of the components may be selectively operated in combination with one or more. In addition, although all of the components may be implemented as one independent hardware, some or all of the components may be selectively combined to perform a part or all of the functions in one or a plurality of hardware. As shown in FIG. Codes and code segments constituting the computer program may be easily inferred by those skilled in the art. Such a computer program may be stored in a computer readable storage medium and read and executed by a computer, thereby implementing embodiments of the present invention. The storage medium of the computer program may include a magnetic recording medium, an optical recording medium, a carrier wave medium, and the like.

It is also to be understood that the terms such as " comprises, "" comprising," or "having ", as used herein, mean that a component can be implanted unless specifically stated to the contrary. But should be construed as including other elements. All terms, including technical and scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs, unless otherwise defined. Terms commonly used, such as terms defined in a dictionary, should be interpreted to coincide with the contextual meaning of the related art, and shall not be construed in an ideal or excessively formal sense unless explicitly defined in the present invention.

The foregoing description is merely illustrative of the technical idea of the present invention, and various changes and modifications may be made by those skilled in the art 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.

Claims (5)

A distance measuring unit measuring a distance between the host vehicle and an object and outputting a distance information signal;
A vehicle speed sensor measuring a vehicle speed of the host vehicle and outputting a vehicle speed signal;
A steering force supply unit for supplying steering force for rotation of a steering wheel when the vehicle is automatically parked; And
The distance information signal is input from the distance measuring unit to calculate the width of the parking space, calculates the driving trajectory by setting the target point coordinates in the parking space where the parking of the own vehicle is completed, and causes the steering force supply unit to the driving trajectory. According to the vehicle speed of the vehicle speed signal received from the vehicle speed sensor when the distance between the vehicle and the object is less than a reference distance when the vehicle is moving along the driving trajectory, the steering force is provided to move toward the target point accordingly A controller for outputting a vehicle speed reduction signal for reducing the speed of the host vehicle
Parking control system comprising a. The method of claim 1,
And the control unit determines a deceleration rate of the vehicle speed according to the vehicle speed when the distance from the object becomes smaller than the reference distance, and outputs a vehicle speed reduction signal to reduce the vehicle speed according to the deceleration rate. The method of claim 2,
And the deceleration rate increases as the vehicle speed increases when the distance from the object becomes smaller than the reference distance. 4. The method according to any one of claims 1 to 3,
The controller receives a distance information signal from the distance measuring unit and compares the distance between the host vehicle and the object and the limit distance. When the distance between the host vehicle and the object is smaller than the limit distance, the controller provides a stop signal. Parking control system, characterized in that output. 4. The method according to any one of claims 1 to 3,
And the control unit prevents acceleration of the host vehicle even when the driver presses the accelerator pedal after a point in which the distance between the host vehicle and the object becomes smaller than the reference distance.

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