KR20130106005A - Smart parking assist system of vehicle and control method thereof - Google Patents

Abstract

PURPOSE: A steering assistance system for parking a vehicle and method for controlling the same is provided to prevent possible danger while parking a vehicle if a tire condition is inappropriate for using a smart parking assistance system. CONSTITUTION: A steering assistance system(100) for parking a vehicle comprises: a state detection part(110) which senses the state of the vehicle; an obstacle detector(120) which senses obstacles that exist in all directions; a routing unit(132) which sets a driving path for parking based on the results of the state detection part and the obstacle detector; a steering angle setting unit(133) which sets the steering angle of the vehicle based on the driving path set by the routing unit; a steering controller(140) which controls a steering wheel of the vehicle based on the steering angle set by the steering angle setting unit; a monitoring unit(160) for monitoring the tire condition; and a tire state processing unit(134) which determines whether or not the condition of the tire based on the result of the monitoring unit is appropriate for parking by an auto-steering capability. [Reference numerals] (110) State detection part; (120) Obstacle detector; (130) Main control unit; (131) Parking space recognizing unit; (132) Routing unit; (133) Steering angle setting unit; (134) Tire state processing unit; (135) Motion switching unit; (140) Steering controller; (151) Output unit; (152) Input unit; (160) Tire state monitoring unit

Description

Parking steering assistance system of vehicle and its control method {SMART PARKING ASSIST SYSTEM OF VEHICLE AND CONTROL METHOD THEREOF}

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a parking steering assistance system for controlling parking of a vehicle and a control method thereof, and more particularly to a parking steering assistance system and a control method for automatically controlling steering of a vehicle so that the vehicle moves to a space to be parked.

In general, a vehicle driver moves a vehicle while visually checking an obstacle behind or side by using a side mirror or a room mirror mounted on the vehicle when parking.

However, if there is a blind spot in the rear corner of the vehicle that cannot be recognized by the driver, and the driver does not know the length or width of the vehicle even if the driver recognizes the obstacle, the vehicle may not be able to recognize the distance between the vehicle and the obstacle. Can come in contact with obstacles.

In order to solve the above problems, a Parking Assist System (PAS) has been introduced, which is equipped with sensors at the rear and front of the vehicle to help the vehicle recognize a distance from an obstacle by an alarm sound. In addition, the smart parking assistance system (SPAS) recognizes a space to park recently and automatically generates a parking route and automatically controls the steering wheel so that the driver can park the vehicle automatically without manipulating the steering wheel. Assist System) was introduced. SPAS is also called parking steering assistance system because it controls the steering of the vehicle.

The parking steering assistance system receives a vehicle speed, side sensor information, a wheel pulse indicating a wheel movement amount, a steering angle sensor signal, and the like from various sensors mounted on the vehicle to perform parking space recognition and path control for parking. However, when the wheel pressure of the vehicle is too low, the movement amount coordinates of the vehicle are different from the actual moving distance, thereby causing an error, and thus, the parking steering assistance system may not operate correctly or the possibility of collision with surrounding obstacles increases.

According to the present invention, when the driver operates the parking steering assistance system to park the vehicle automatically, if the tire condition is not suitable for using the parking steering assistance system, the present invention warns the driver of the danger that may occur due to the automatic parking. A parking steering assistance system and a control method thereof are provided.

To this end, the parking steering assistance system according to an aspect of the present invention, the state detection unit for detecting the state of the vehicle, the obstacle detection unit for detecting an obstacle present in the front, rear or side of the vehicle, the state detection unit and A path setting unit for setting a driving path for parking of the vehicle based on a detection result of the obstacle detecting unit, a steering angle setting unit for setting a steering angle of the vehicle based on the driving path set by the driving path setting unit; A steering control unit for controlling a steering wheel of the vehicle based on a steering angle set by the steering angle setting unit, a tire state monitoring unit for monitoring a tire state of the vehicle, and a state of the tire based on a monitoring result of the tire state monitoring unit; Tire to determine whether the vehicle is capable of parking by automatic steering. It includes a bamboo processing unit.

The tire state processing unit determines that the state of the tire is not a state capable of parking by automatic steering when the tire pressure is less than or equal to a preset reference value as a result of monitoring of the tire state monitoring unit.

The parking steering assistance system is configured to output a warning message visually or acoustically to a driver of the vehicle when the tire condition processor determines that the state of the tire is not a state capable of parking by automatic steering. It may further include.

The parking steering assistance system may further include an input unit configured to receive a selection regarding whether to perform parking by automatic steering from the driver.

The parking steering assistance system may further include an operation switching unit to stop the parking by the automatic steering of the vehicle when the state of the tire is not a state capable of performing automatic parking.

The state detection unit may include at least one of a steering angle sensor for detecting a steering angle of the vehicle, a gear position sensor for detecting a position of a gear, a wheel speed sensor for detecting a wheel speed, and a vehicle speed sensor for detecting a speed of the vehicle.

The obstacle detecting unit may include an ultrasonic sensor for detecting a distance from the obstacle.

In the control method of the parking steering assistance system including the tire condition monitoring unit according to an aspect of the present invention, whether the state of the tire is able to perform parking by automatic steering using the monitoring result of the tire condition monitoring unit. Judge; If the state of the tire is not a state capable of parking by automatic steering, stopping the parking by automatic steering of the vehicle; Outputting a warning message to the driver.

Determining whether the state of the tire is a state capable of parking by automatic steering, when the tire pressure is less than a predetermined reference value as a result of monitoring of the tire state monitoring unit, the state of the tire is parked by automatic steering. It may include determining that the state is not capable of performing.

If the state of the tire is a state capable of performing automatic parking, the driving path and steering angle for parking by the automatic steering of the vehicle is set, and the steering wheel of the vehicle is automatically adjusted according to the set driving path and steering angle. The control may further include.

According to the automatic parking assist system and its control method according to the present invention, when the driver is to park the vehicle automatically by operating the smart parking assist system, if the tire condition is not suitable for using the smart parking assist system, the driver By warning them, you can avoid the dangers that can arise from automatic parking.

1 is a control block diagram of a parking steering assistance system according to an embodiment of the present invention.
2 is a control block diagram illustrating the functions of the main controller in the parking steering assistance system according to an exemplary embodiment of the present invention.
3 is a view of a vehicle for searching a parking space using the parking steering assistance system according to an embodiment of the present invention.
4 is a view of a vehicle performing parallel parking using the parking steering assistance system according to an embodiment of the present invention.
FIG. 5 is a diagram illustrating an example of a message output through an output unit of a vehicle equipped with a parking steering assistance system according to an embodiment of the present invention.
6 is a flowchart illustrating a control method of a parking steering assistance system according to an embodiment of the present invention.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.

1 is a control block diagram of a parking steering assistance system according to an embodiment of the present invention.

Referring to FIG. 1, the parking steering assistance system 100 according to an embodiment of the present invention may include a state detector 110 that detects a state of a vehicle, an obstacle detector 120 that detects an obstacle around a vehicle, and a vehicle. The parking path setting and steering angle based on the detection result and the monitoring result of the tire condition monitoring unit 160, the state detecting unit 110, the obstacle detecting unit 120, and the tire state monitoring unit 160 monitoring the tire pressure of the vehicle. The main controller 130 for performing calculations and determining whether the state of the tire is in a state capable of parking by automatic steering, the steering controller 140 for automatically controlling the steering wheel of the vehicle, and the parking steering assistance. Interface unit 150 for receiving the input from the driver or outputs to the driver.

The state detection unit 110 detects the current state of the vehicle, the axle angle sensor for detecting the axle angle, the steering angle sensor for detecting the steering angle of the vehicle, the gear position sensor for detecting the position of the gear, the wheel of the vehicle It may include at least one of a wheel speed sensor for detecting a speed and a vehicle speed sensor for detecting a vehicle speed.

The obstacle detecting unit 120 recognizes an obstacle adjacent to the vehicle and detects a distance between the vehicle and the obstacle, and an ultrasonic sensor may be employed. The ultrasonic sensor may be mounted on the stern, the rear or the side of the vehicle and may be used not only to detect a distance from an obstacle but also to recognize a parking space.

The tire condition monitoring unit 160 is a system for monitoring the current state of the tire, and receives a signal from a pressure sensor or a tire pressure monitoring system (TPMS) installed in the tire to monitor the current state of the tire. Here, TPMS is a system that detects the tire pressure and temperature in real time by mounting an automatic detection sensor such as an RFID sensor on the tire.

The sensor signal detected by the state detector 110, the obstacle detector 120, and the tire state monitor 160 is transmitted to the main controller 130.

The steering control unit 140 is a steering assistance means for actively assisting the steering of the vehicle by grasping the driving condition of the vehicle and the driver's driving intention, and includes an electronic power steering (EPS) and a motor driving steering (MDPS) motor. Driven Power Steering, or Active Front Steering (AFS) may be applied. The steering controller 140 according to the embodiment of the present invention steers the vehicle under the control of the main controller 130.

The interface unit 150 is generally referred to as a human machine interface (HMI) and output unit 151 that visually or aurally informs the driver whether parking by automatic steering can be performed based on the current tire state. And an input unit 152 for receiving a selection regarding whether to perform parking by automatic steering from the driver. The output unit 151 may include a speaker for outputting sound or a display for outputting a visual screen, and the input unit 152 may be implemented as a switch or when the display is implemented as a touch screen, the touch panel may be an input unit. . In addition, when the HMI is capable of voice recognition, a microphone for receiving the voice of the driver may be an input unit. The configuration of the interface unit 150 is not limited to the above examples, but may be implemented in various forms.

2 is a control block diagram showing the function of the main controller 130 in the parking steering assistance system 100 according to an embodiment of the present invention. In addition, Figure 3 is a view of a vehicle for searching a parking space using the parking steering assistance system according to an embodiment of the present invention, Figure 4 is a parking steering assistance system according to an embodiment of the present invention A diagram is shown of a vehicle that performs parallel parking using.

Hereinafter, the operation of the main controller will be described in detail with reference to FIGS. 2 to 4.

Referring to FIG. 2, the main control unit 130 of the parking steering assistance system 100 according to an exemplary embodiment of the present disclosure may be a parking space recognition unit that recognizes a parking space based on a detection result of the obstacle detecting unit 120. 131, a path setting unit 132 for setting a parking path for parking in the recognized parking space, a steering angle setting unit 133 for calculating and setting a steering angle for moving the vehicle according to the set path, the tire state The operation of turning on / off the operation of the tire condition processor 134 and the parking steering assistance system to determine whether the current tire state is a state capable of parking by automatic steering according to the detection result of the monitoring unit 160. The switching unit 135 is included.

When the user selects parking by the parking steering assistance system 100 through the interface unit 150, that is, parking by automatic steering, the operation switching unit 135 turns on the parking steering assistance system 100 and parking steering assistance. As shown in FIG. 3, the vehicle 10 equipped with the system 100 performs a parking space search using the obstacle detecting unit 120. In this case, the parking space recognition unit 131 measures the width of the parking space, the depth of the parking space, and the like to determine whether the vehicle 10 is a space in which the vehicle can be parked.

In addition, the interface unit 150 may receive a selection regarding whether to park at right angles or to parallel parking from the user. In this embodiment, it is assumed that the user selects parallel parking.

When the parking space recognizing unit 131 recognizes the space where the vehicle is to be parked, the route setting unit 132 sets a path until the vehicle is parked in the recognized parking space at the current location. In one embodiment, the coordinates of the parking target point of the vehicle are calculated using the coordinates of the parking starting point, the coordinates of the two corners of the entrance of the parking space, the width of the parking space, and the depth of the parking space. And the path is set to move from the coordinate of the parking start point to the coordinate of the parking target point.

The steering angle setting unit 133 calculates and sets a steering angle required to move the vehicle according to the path set by the path setting unit 132.

The path setting unit 132 and the steering angle setting unit 133 set the path and set the steering angle based on the position and the distance of the obstacle detected by the obstacle detecting unit 120.

Parking steering assistance systems generally control only the steering wheel of the vehicle automatically and the shift between the forward and reverse gears directs the driver directly. The braking of the vehicle may also be performed by inducing the driver to press the brake pedal. However, in one embodiment of the present invention, the driver may decelerate or brake the vehicle even if the driver does not press the brake pedal. Do. The electronically controlled braking device may be an anti-lock brake system (ABS), an automatic stability control (ASC) system, a dynamic stability control (DSC) system, or the like.

Hereinafter, a process of performing parking by automatic steering according to an embodiment of the present invention will be described with reference to FIG. 4. In this embodiment, the driver is induced to step on the brake pedal without being associated with the electronically controlled braking device.

When the parking space for parking the vehicle is recognized, the reverse gear shift is induced through the interface unit 150. The display unit may display the reverse gear shift guidance message, or output a message through a speaker or output a warning sound corresponding to the reverse gear shift.

When the driver shifts to the reverse gear, the steering controller 140 automatically controls the steering wheel to adjust the moving direction of the vehicle. At this time, the driver induces the driver to press the brake pedal through the output unit 151 so that the vehicle can slowly reverse.

In the case of parallel parking, reversing is often performed after switching from reverse to forward rather than backward parking only. In this case, a message is output through the output unit 151 to induce the driver to change the brake pedal to the forward gear.

As such, the main control unit 130 transmits a signal to the steering control unit 140 to control the steering of the vehicle so that the vehicle can move according to the set path, and the driver shifts the gear according to the message output through the output unit 151. Press the brake pedal. Unlike the above embodiment, in an embodiment in which the parking assistance system is connected to the electronic brake control apparatus, the vehicle speed may be reduced or the vehicle may be braked without the driver pressing the brake pedal.

When the parking of the vehicle is completed, a message indicating that parking is completed is output through the output unit, and the operation switching unit 135 automatically turns off the parking steering assistance system 100 or steers the driver through the input unit 152. The auxiliary system 100 may be turned off according to the off command.

In order to move the vehicle according to the set parking path and the steering angle, it is necessary to determine the current state of the vehicle by using the detection result of the state detecting unit 110. Specifically, the wheel speed sensor value may be used to determine the amount of movement of the vehicle and determine at which point the gear should be shifted according to the amount of movement of the vehicle. In addition, the steering angle sensor value may be used to determine a control amount for reaching the set steering angle, the vehicle speed sensor value may be used to determine whether to brake, and the gear position sensor value may be used to shift the gear. Can be determined or gear shifting is performed properly.

However, if the current tire pressure is lower than the reference value, the difference between the movement amount coordinate of the vehicle using the wheel speed sensor value and the moving distance of the actual vehicle becomes large and the vehicle may not be parked at the target parking position or collide with an obstacle around it. The risk increases.

Accordingly, the tire condition processing unit 134 receives the pressure state of the tire from the tire state monitoring unit 160 and determines whether the current tire state is a state capable of parking by automatic steering. Specifically, the tire condition processor 134 presets the minimum pressure value of the tire capable of parking by automatic steering as a reference value, and if the pressure signal transmitted from the tire condition monitor 160 is equal to or greater than the preset reference value. It may be determined that the parking by the automatic steering may be performed, and when it is less than the reference value, the parking by the automatic steering may not be performed.

Here, the preset reference value may be a tire pressure to complete the parking even if the actual amount of movement changes due to the reduction of the tire pressure based on the size of the minimum space where the vehicle can be parked.

In addition, based on the size of the parking space recognized by the parking space recognition unit and the position of the obstacle around, due to the reduction in the tire pressure may be a tire pressure that can complete the parking without colliding with the obstacle even if the actual amount of movement changes. .

The tire condition processing unit 134 performs the determination after the driver turns on the parking steering assistance system, and since the tire condition monitoring unit 160 may detect the pressure of the tire in real time, the operation of the parking steering assistance system may be started. Thereafter, the determination may be performed in real time.

If the tire condition processing unit 134 determines that the current tire state cannot park by the automatic steering, a signal is sent to the operation switching unit 135 to stop the operation of the parking steering assistance system.

FIG. 5 is a diagram illustrating an example of a message output through an output unit of a vehicle equipped with a parking steering assistance system according to an embodiment of the present invention.

If the tire condition processing unit 134 determines that the current tire state cannot be parked by automatic steering, a warning message is output through the output unit 151 to inform the driver of this.

Referring to FIG. 5, a message indicating that the operation of the parking steering assistance system (SPAS) is stopped due to an abnormal tire pressure may be visually output through the display or acoustically through a speaker.

The driver may check the output warning message and input an off command of the parking steering assistance system through the input unit, and when the off command of the parking steering assistance system is input, the operation switching unit 135 turns off the parking steering assistance system.

In the above embodiment, when the current state of the tire is not a state capable of parking by automatic steering, the operation switching unit 135 temporarily stops parking by automatic steering and parking when an off command is input from the driver. Although the steering assistance system is to be turned off, in another embodiment of the present invention, the operation switching unit immediately turns off the parking steering assistance system when the current state of the tire in the tire condition processing unit is not capable of parking by automatic steering. It can also be. In this case, a warning message is output to the driver so that the driver can understand the current situation.

6 is a flowchart illustrating a control method of a parking steering assistance system according to an embodiment of the present invention.

Referring to FIG. 6, when a driver inputs a parking steering assistance system selection command, that is, a command to turn on the parking steering assistance system (Yes of S311), the operation of the parking steering assistance system is started (S312).

Then, the tire condition monitoring unit 160 transmits a signal indicating the tire pressure from the main control unit (S313), and determines whether an abnormal signal of the tire pressure is detected by the tire state processing unit (S314). Here, the abnormal signal of the tire pressure indicates a tire pressure signal when the tire pressure is less than the preset reference value, wherein the preset reference value is as described above in the embodiment of the parking steering assistance system.

When an abnormal signal of the tire pressure is detected (YES in S314), the operation of the parking steering assistance system is stopped (S315), and a warning message is output to the driver through the output unit (S316). An example of the output warning message is illustrated in FIG. 5, but embodiments of the present invention are not limited thereto, and various phrases that may warn the driver of a current state may be output in various ways.

Then, the operation of the parking steering assistance system is terminated (S317). Here, the operation of the parking steering assistance system may be terminated by the driver inputting an off command of the parking steering assistance system through the input unit, or the operation switching unit may be turned off by itself even without the driver's input.

If the abnormal signal of the tire pressure is not detected (NO in S314), that is, when the tire pressure is equal to or more than the preset reference value, parking by automatic steering is performed. Specifically, the driving path and steering angle for moving the vehicle from the current position to the target parking position based on the detection result of the obstacle detecting unit 120 are set (S318), and the steering wheel of the vehicle is automatically adjusted according to the set steering angle. Steering to step (S319). When the parking steering assistance system is associated with an electronically controlled braking system, the vehicle's deceleration and braking can be performed automatically.

When the vehicle moves to the target parking position, parking is completed (S320).

110: state detection unit 120: obstacle detection unit
130: main controller 140: steering control unit
150: interface unit 160: tire condition monitoring unit

Claims (10)

A state detecting unit detecting a state of the vehicle;
An obstacle detecting unit detecting an obstacle present in the front, rear, or side of the vehicle;
A route setting unit configured to set a driving route for parking of the vehicle based on a detection result of the state detecting unit and the obstacle detecting unit;
A steering angle setting unit that sets a steering angle of the vehicle based on the driving path set by the driving path setting unit;
A steering control unit controlling a steering wheel of the vehicle based on a steering angle set by the steering angle setting unit;
A tire condition monitoring unit for monitoring a tire condition of the vehicle; And
And a tire condition processing unit determining whether the state of the tire is a state capable of parking by automatic steering based on a monitoring result of the tire state monitoring unit. The method of claim 1,
The tire state processing unit,
And a parking steering assistance system that determines that the tire is not in a state capable of parking by automatic steering when the tire pressure is less than or equal to a preset reference value. The method of claim 1,
If the tire condition processing unit determines that the state of the tire is not a state that can be parked by automatic steering, parking steering assistance further comprises an output unit for outputting a warning message visually or audibly to the driver of the vehicle. system. The method of claim 1,
And an input unit configured to receive a selection regarding whether to perform parking by automatic steering from the driver. The method of claim 1,
And an operation switching unit for stopping the parking by the automatic steering of the vehicle when the state of the tire is not a state capable of performing automatic parking. The method of claim 1,
Wherein the state detection unit comprises:
A parking steering assistance system comprising at least one of a steering angle sensor for detecting a steering angle of a vehicle, a gear position sensor for detecting a position of a gear, a wheel speed sensor for detecting a wheel speed, and a vehicle speed sensor for detecting a speed of the vehicle. The method of claim 1,
The obstacle detecting unit,
Parking steering assistance system comprising an ultrasonic sensor for sensing the distance to the obstacle. In the control method of the parking steering assistance system comprising a tire condition monitoring unit for monitoring the tire condition of the vehicle,
Determining whether the state of the tire is in a state in which parking by automatic steering can be performed using the monitoring result of the tire state monitoring unit;
If the state of the tire is not a state capable of parking by automatic steering, stopping the parking by automatic steering of the vehicle;
The control method of the parking steering assistance system to output a warning message to the driver. The method of claim 8,
Determining whether the state of the tire is a state capable of parking by automatic steering,
And if the tire pressure is equal to or less than a preset reference value as a result of monitoring of the tire condition monitoring unit, determining that the state of the tire is not a state capable of parking by automatic steering. The method of claim 8,
If the state of the tire is a state capable of performing automatic parking, the driving path and steering angle for parking by the automatic steering of the vehicle is set, and the steering wheel of the vehicle is automatically adjusted according to the set driving path and steering angle. The control method of the parking steering assistance system further comprising the control.

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