KR20120082212A - Method for parking right angle and apparatus - Google Patents

Abstract

PURPOSE: Reverse perpendicular parking control method and apparatus are provided to recognize the parking space by detecting obstacles on the side for producing a parking route for cares. CONSTITUTION: A reverse perpendicular parking control method comprises the following steps: detecting obstacles around a car for measuring the width and the length of a parking space(S1); measuring the location of first and second corners of the obstacles; calculating a parking route including three turning courses(S2, S3, S4); and performing a steering control process by the calculated turning courses(S5). The steering control process includes the following steps: reverse turning the car from the parking initial location to the first stop location in the first turning angle based on a first turning course; forward turning the car from the first stop location to the second stop location in the second turning angle based on a second turning course; and reverse turning the car from the second stop location to the third stop location in the third turning angle based on a third turning course, and reverse-driving the car to the parking final location.

Description

Reverse right angle parking control method and apparatus {METHOD FOR PARKING RIGHT ANGLE AND APPARATUS}

The present invention relates to a reverse right angle parking control method and apparatus, and more particularly, reverse right angle parking so as to detect backward obstacles to recognize a parking space and generate a parking path according to the parking space to perform reverse right angle parking. A control method and apparatus are provided.

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, in a parking space without a parking compartment, when a plurality of vehicles are parked together, the distance between the vehicles is inevitably 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.

The above technical configuration is a background art for helping understanding of the present invention, and does not mean a conventional technology well known in the art.

The present invention detects the obstacles on the side to recognize the parking space and generates a parking path according to the parking space to perform the right angle parking, backward right angle parking control method and apparatus to safely park in the narrow space without the risk of collision. The purpose is to provide.

A reverse right angle parking control method according to the present invention includes: detecting a parking space by detecting an obstacle on a side of a vehicle; Calculating a parking path including three turning paths based on the parking space; And performing steering control for reverse perpendicular parking according to the turning path.

In the present invention, the step of recognizing the parking space may include measuring the width and length of the parking space by detecting the obstacle; And measuring positions of the first corner and the second corner with respect to the obstacle.

In the present invention, the step of calculating the turning path may be calculated by calculating a first turning angle, a parking starting position and a first stopping position satisfying a collision avoidance condition between the first corner and the second corner during the maximum steering of the vehicle. Calculating the first turning path; Calculating the second turning path by calculating a second turning angle and a second stopping position satisfying a condition where one side end of the rear wheel center line of the vehicle meets the y-axis of the second corner; And calculating the third turning path by calculating a third turning angle, a third stopping position and a parking end position that satisfy the condition that the vehicle is aligned along the center line of the parking space.

In the present invention, the step of performing the steering control is the step of the vehicle to the reverse turning from the parking start position to the first stop position at the first turning angle based on the first turning path; Turning forward from the first stop position to the second stop position at the second turn angle based on the second turn path; And reversing from the second stop position to the third stop position at the third turn angle based on the third turn path and reversing from the third stop position to the parking end position. do.

In the present invention, the sum of the first turning angle, the second turning angle, and the third turning angle is 90 degrees.

And, a parking space recognition unit for recognizing the parking space by detecting an obstacle on the side of the vehicle according to the present invention; A parking path calculator configured to calculate a parking path including a first turning path, a second turning path, and a third turning path based on the parking space; A vehicle location calculator configured to calculate a location of the vehicle when calculating the parking path of the parking path calculator; And a steering control unit configured to perform steering control for reverse perpendicular parking according to the first turning path, the second turning path, and the third turning path.

In the present invention, the parking space recognition unit detects the obstacle located on one side of the vehicle to measure the width and length of the parking space, and to measure the position of the first corner and the second corner with respect to the obstacle It features.

In the present invention, the parking path calculator calculates a first turning angle, a parking starting position and a first stopping position that satisfy a collision avoidance condition between the first corner and the second corner when the vehicle is steered at maximum steering. The second turning path is calculated by calculating a turning route and calculating a second turning angle and a second stop position satisfying a condition where one side end of the rear wheel centerline of the vehicle meets the y-axis of the second corner, and the parking space is calculated. The third turning path is calculated by calculating a third turning angle, a third stopping position and a parking stop position satisfying a condition that the vehicle is aligned along a center line of the third turning path.

As described above, the present invention detects the obstacles on the side to recognize the parking space and generates a parking path to control to perform the backward right angle parking, thereby enabling the parking safely in a narrow space without the risk of collision with the obstacle.

1 is a block diagram illustrating a configuration of a reverse right angle parking control apparatus according to an embodiment of the present invention.
2 is a flowchart illustrating a reverse right angle parking control method according to an embodiment of the present invention.
FIG. 3 is a diagram for describing a method of recognizing a parking space in reverse perpendicular parking control according to an embodiment of the present invention.
4 to 7 are diagrams for describing a method of calculating a turning path in the reverse perpendicular parking control according to an embodiment of the present invention.
8 to 10 are diagrams showing the test result of the automatic parking vehicle according to an embodiment of the present invention.

Hereinafter, the present invention will be described in more detail with reference to Examples. These embodiments are only for illustrating the present invention, and the scope of rights of the present invention is not limited by these embodiments.

In this process, the thickness of the lines or the size of the components shown in the drawings may be exaggerated for clarity and convenience of description. In addition, the terms described below are defined in consideration of the functions of the present invention, which may vary depending on the intention or custom of the user, the operator. Therefore, definitions of these terms should be made based on the contents throughout this specification.

1 is a block diagram illustrating a configuration of a backward right angle parking control apparatus according to an embodiment of the present invention, Figure 2 is a flow chart for explaining a backward right angle parking control method according to an embodiment of the present invention, 3 is a view for explaining a method for recognizing a parking space in the reverse perpendicular parking control according to an embodiment of the present invention, Figures 4 to 7 shows a turning path in the reverse perpendicular parking control according to an embodiment of the present invention. It is a figure for demonstrating a calculation method.

Referring to FIG. 1, the reverse right angle parking control apparatus 1 according to an embodiment of the present invention includes a parking space recognition unit 11, a parking path calculator 12, a vehicle position calculator 13, and a steering controller ( 14).

The parking space recognition unit 11 detects an obstacle on the side of the vehicle from the obstacle detection unit 2 to recognize the parking space. The obstacle detecting unit 2 may be implemented as an ultrasonic sensor or the like as a sensing means mounted on a vehicle and measuring an distance from an obstacle to generate an electrical signal corresponding to the distance.

As shown in FIG. 3, the parking space recognizing unit 11 uses the distance between the obstacle located on one side of the vehicle detected by the obstacle detecting unit 2, and the width W and the length L of the parking space. ) And recognize the parking space by measuring the position (x, y) of the first corner (C1) and the second corner (C2) with respect to the obstacle.

As shown in FIG. 4, the parking path calculator 12 calculates the width W and the length L of the parking space calculated from the parking space recognition unit 11, the first corner C1, and the second corner C2. The parking route including the first turning route, the second turning route, and the third turning route is calculated based on the position (x, y).

The vehicle position calculation unit 13 may calculate the parking starting position P0 and the stop position of the vehicle for each turning route when calculating the first turning route, the second turning route, and the third turning route of the parking route calculating section 12. Calculate P1, P2, P3) and parking end position Pe.

Hereinafter, the turning path calculation for the reverse perpendicular parking will be described in more detail.

First, as shown in FIG. 5, the parking path calculator 12 determines a first turning angle θ1 and a parking starting position P0 that satisfy a collision avoidance condition with the second corner C2 when the vehicle is steered. The first turning path is calculated by calculating the first stop position P1 that satisfies the collision avoidance condition with the first corner C1.

Next, as shown in FIG. 6, the second turning angle θ that satisfies the condition where one side end of the rear wheel center line meets the y axis of the second corner C2 when the vehicle turns forward from the first political position P1. Calculate the second turning path by calculating and the second stop position (P2). If the vehicle stops at a point where one side end of the rear wheel center line meets the y-axis of the second corner C2, there is no risk of the vehicle colliding with the second corner C2 in the third turning path.

Next, as shown in FIG. 7, the third turning angle θ3 and the third stopping position satisfying the condition that the vehicle is aligned along the center line of the parking space when the vehicle turns backward from the second stopping position P2. P3) is calculated and the third turning route is calculated by calculating the parking end position Pe that satisfies the length L condition of the parking space.

The steering controller 14 performs steering control in the order of the first turning path, the second turning path, and the third turning path calculated from the parking path calculator 12.

Specifically, the steering control unit 14 first controls the steering according to the first turning path in which the vehicle turns back from the parking starting position P0 to the first stopping position P1 at the first turning angle θ1. .

Subsequently, steering is controlled in accordance with the second turning path for turning forward from the first stop position P1 to the second stop position P2 at the second turning angle θ2.

Subsequently, the third turning path moves backward from the second stop position P2 to the third stop position P3 at the third turn angle θ3 and moves backward from the third stop position P3 to the parking end position Pe. To control the steering.

As described above, the steering controller 14 controls the steering apparatus 3 based on the three first turning paths, the second turning paths, and the third turning path to perform steering control for reverse perpendicular parking.

Referring to the reverse right angle parking control method according to an embodiment of the present invention configured as described above are as follows.

Referring to FIG. 2, first, when the vehicle moves forward, the parking space is recognized by detecting a distance from an obstacle located on the side of the vehicle (S1).

In the process of recognizing the parking space, the process of measuring the width (W) and the length (L) of the parking space by detecting the distance to the obstacle, and the position of the first corner (C1) and the second corner (C2) for the obstacle It includes the process of measuring (x, y).

Next, the first turning path and the second turning path are based on the calculated width W and the length L of the parking space and the positions x and y of the first corner C1 and the second corner C2. The third turning path is calculated (S2, S3, S4).

In detail, as shown in FIG. 5, the first turning angle θ1 and the parking start position P0 satisfying the collision avoidance condition with the second corner C2 at the maximum steering of the vehicle are calculated, and the first corner is calculated. The first turning path is calculated by calculating the first stop position P1 that satisfies the collision avoidance condition with (C1) (S2).

Subsequently, as shown in FIG. 6, the second turning angle θ that satisfies the condition where one side end of the rear wheel center line meets the y-axis of the second corner C2 when the vehicle turns forward from the first political position P1 and The second turning path is calculated by calculating the second stop position P2 (S3).

Subsequently, as shown in FIG. 7, the third turning angle θ3 and the third stopping position P3 satisfying the condition that the vehicle is aligned along the center line of the parking space when the vehicle turns backward from the second stopping position P2. ), And the third turning path is calculated by calculating the parking end position Pe that satisfies the length L condition of the parking space (S4).

Next, steering control is performed in the order of the calculated first turning path, second turning path, and third turning path (S5).

In detail, the vehicle performs steering control based on the first turning path in which the vehicle turns backward from the parking start position P0 to the first stop position P1 at the first turning angle θ1.

Next, steering control is performed based on the second turning path that turns forward from the first stop position P1 to the second stop position P2 at the second turning angle θ2.

Next, the third turning to the reverse turning from the second stop position (P2) to the third stop position (P3) at the third turning angle (θ3) and the reverse from the third stop position (P3) to the parking end position (Pe) Perform steering control based on the route.

According to the exemplary embodiment of the present invention, only the x-coordinate condition of the second stop position P2, which is the starting point of turning in the third turning route, needs to be satisfied, so that parking can be performed without collision even if an error occurs in the middle of the route.

8 to 10 are diagrams showing the test result of the automatic parking vehicle according to an embodiment of the present invention.

8 to 10, a reverse turning (first turning path) is performed from the parking starting position P0 to the first stopping position P1 at the first turning angle θ1 for the reverse perpendicular parking of the vehicle.

Then, the motor turns forward (second turning path) from the first stop position P1 to the second stop position P2 at the second turning angle θ2.

Then, the reverse turning (third turning path) is performed again from the second stopping position P2 to the third stopping position P3 at the third turning angle θ3, and the parking stop position Pe is reached from the third stopping position P3. Reverse to complete parking.

In this way, the parking time can be shortened by simplifying through three turning paths for the reverse perpendicular parking.

As such, the present invention simplifies the route for reverse orthogonal parking to reduce parking time and reduce ECU and steering related loads.

In addition, according to the present invention, even if a path error occurs in the middle, if only the x-coordinate conditions of the starting point and the second turning start point are met, collisions with obstacles do not occur, so that parking is possible safely.

In addition, since the present invention generates a parking path suitable for the parking space to perform steering control for reverse perpendicular parking, parking is possible even in a narrow space, thereby improving user convenience.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed embodiments, but, on the contrary, It is understandable. Accordingly, the true scope of the present invention should be determined by the following claims.

1: reverse right angle parking control device 2: obstacle detection unit
3: steering device 11: parking space recognition unit
12: parking path calculation unit 13: vehicle location calculation unit
14: steering control

Claims (8)

Recognizing a parking space by detecting an obstacle on a side of the vehicle;
Calculating a parking path including three turning paths based on the parking space; And
And performing steering control for reverse perpendicular parking according to the turning path.
The method of claim 1, wherein the recognizing the parking space
Sensing the obstacle to measure a width and a length of the parking space; And
And measuring the positions of the first corner and the second corner with respect to the obstacle.
The method of claim 2, wherein calculating the turning path
Calculating a first turning path by calculating a first turning angle, a parking starting position, and a first stopping position satisfying a collision avoidance condition between the first corner and the second corner when the vehicle is steered;
Calculating a second turning path by calculating a second turning angle and a second stopping position that satisfy a condition where one side end of the rear wheel center line of the vehicle meets the y axis of the second corner; And
Calculating a third turning path by calculating a third turning angle, a third stopping position and a parking stop position satisfying a condition in which the vehicle is aligned along the center line of the parking space; Control method.
4. The method of claim 3, wherein performing the steering control
Reversing the vehicle from the parking start position to the first stop position at the first turning angle based on the first turning path;
Turning forward from the first stop position to the second stop position at the second turn angle based on the second turn path; And
And turning back from the second stop position to the third stop position at the third turn angle based on the third turn path and moving backward from the third stop position to the parking end position. Reverse right angle parking control method.
The method of claim 3, wherein
And the sum of the first turning angle, the second turning angle, and the third turning angle is 90 degrees.
A parking space recognition unit for recognizing a parking space by detecting an obstacle on a side of the vehicle;
A parking path calculator configured to calculate a parking path including a first turning path, a second turning path, and a third turning path based on the parking space;
A vehicle location calculator configured to calculate a location of the vehicle when calculating the parking path of the parking path calculator; And
And a steering control unit configured to perform steering control for reverse perpendicular parking according to the first turning path, the second turning path, and the third turning path.
The method of claim 6, wherein the parking space recognition unit
The reverse right angle parking control apparatus for detecting the obstacle located on one side of the vehicle to measure the width and length of the parking space, and the position of the first corner and the second corner with respect to the obstacle.
The method of claim 7, wherein the parking path calculation unit
The first turning path is calculated by calculating a first turning angle, a parking starting position, and a first stopping position satisfying a collision avoidance condition between the first corner and the second corner when the vehicle is steered.
The second turning path is calculated by calculating a second turning angle and a second stopping position satisfying a condition where one side end of the rear wheel center line of the vehicle meets the y axis of the second corner,
And a third turning path that calculates a third turning angle that satisfies the condition that the vehicle is aligned along the center line of the parking space, and calculates the third turning path.

Images