KR20160006527A - Parking assist system and method - Google Patents

Abstract

The present invention relates to a parking assist system and a parking assist method. The parking assist system comprises: a sensor data reception unit receiving time where an ultrasonic signal is reflected back from an obstacle of the periphery of a vehicle, a sensing value of the ultrasonic signal, a temperature value of the outside of the vehicle, and a humidity value of the outside of the vehicle; an obstacle determination unit correcting the sensing value using the temperature value and the humidity value, determining the obstacle as the real obstacle when the corrected sensing value is at least a predetermined threshold value, and correcting a distance between the real obstacle and the vehicle using the temperature value; and an alarm output unit outputting an alarm in accordance with the corrected distance.

Description

[0001] PARKING ASSIST SYSTEM AND METHOD [0002]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a parking assisting system for a vehicle, and more particularly, to a parking assisting system for detecting a position of an obstacle behind a vehicle and providing a sensed result to a driver, .

A parking assist system is a system that detects obstacles in the rear and square era of a vehicle when the vehicle is moving back, calculates the distance between the detected obstacle and the vehicle, and provides the driver with an alarm in accordance with the calculated distance System.

Such a parking assist system senses the position of an obstacle located behind the vehicle when the gear of the vehicle is positioned at the 'R (Reverse)' or 'D (Drive) And a controller for operating the alarm device by comparing the voltage value output from the sensors with a predetermined reference voltage value. In addition, a reset circuit for initializing the sensors and the controller, an operational amplifier for amplifying the signal, and a bandpass filter for removing noise or filtering a specific signal can be additionally constructed.

However, since the sensors constituting the conventional parking assist system are very sensitive to ambient temperature and humidity due to their operating characteristics, there is a problem that the error range of the measured values is changed every time depending on the temperature and humidity at the time of measurement.

Accordingly, a parking assist system for correcting the error of the measured value of the sensor according to temperature has been developed (Application No. 10-2010-0061299, filed on 2010-06-28), but the conventional parking assist system compensates for the error according to the humidity It does not provide a method.

Accordingly, it is impossible to solve the error of the sensitivity measurement value of the ultrasonic signal according to the humidity, so that the obstacle is mistaken as an obstacle or the distance between the vehicle and the obstacle is measured incorrectly, and finally, the position information of the obstacle is given to the driver .

SUMMARY OF THE INVENTION It is an object of the present invention to provide a parking assist system that corrects a sensed value of an ultrasonic signal depending on temperature and humidity and senses an obstacle behind the vehicle using a sensed sensed value. Also, in calculating the distance between the detected vehicle and the obstacle, it is intended to provide accurate information of the position of the obstacle to the driver by correcting the error of the distance according to the temperature.

According to an aspect of the present invention, there is provided a parking assisting system including: a controller for controlling a driving state of a vehicle, such as a time when an ultrasonic signal is reflected from an obstacle around the vehicle, a return value of the ultrasonic signal, A sensor data receiving unit for receiving a humidity value, a sensor data receiving unit for correcting the sensed value using the temperature value and the humidity value, and judging the obstacle as an actual obstacle when the corrected sensed value is equal to or greater than a predetermined threshold, An obstacle determining unit that corrects the distance between the vehicles using the temperature value, and an alarm output unit that outputs an alarm according to the corrected distance.

According to another aspect of the present invention, there is provided a parking assisting method, comprising: receiving an arrival time of a signal reflected from an obstacle around a vehicle, a sensed value of the ultrasonic signal, a temperature value outside the vehicle, Determining the obstacle as an actual obstacle if the corrected sensed value is greater than or equal to a preset threshold value; determining a distance between the actual obstacle and the vehicle based on the temperature Correcting using a value; And outputting an alarm according to the corrected distance.

According to the present invention, in detecting the position of an obstacle existing in the rear of a vehicle, an error of an ultrasonic signal generated according to temperature and humidity is corrected to provide position information of an obstacle improved in accuracy and reliability to a driver.

1 is a block diagram showing a configuration of a parking assist system according to an embodiment of the present invention.
FIG. 2 is a flowchart illustrating a process of a parking assisting method according to an embodiment of the present invention.
3A and 3B illustrate sensitivity correction coefficient values stored in a database of a parking assist system according to an embodiment of the present invention.
4 is a table showing an example of distance correction coefficient values calculated by the parking assist system according to an embodiment of the present invention.

BRIEF DESCRIPTION OF THE DRAWINGS The advantages and features of the present invention, and the manner of achieving them, will be apparent from and elucidated with reference to the embodiments described hereinafter in conjunction with the accompanying drawings. The present invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art. The scope of the present invention is defined by the description of the claims.

It is to be understood that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The singular forms herein include plural forms unless the context clearly dictates otherwise. &Quot; comprises " and / or "comprising" when used in this specification is taken to specify the presence or absence of one or more other components, steps, operations and / Or add-ons. Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.

1 is a block diagram showing a configuration of a parking assist system according to an embodiment of the present invention.

1, a parking assist system 100 according to an embodiment of the present invention includes a sensor data receiving unit 101, an obstacle determining unit 102, an alarm output unit 103, and a database 104 do.

The sensor data receiving unit 101 receives a value of an obstacle present in the rear of the vehicle from a plurality of sensors mounted on the vehicle and a value of temperature and humidity around the vehicle when the driver reverses the vehicle, 102).

Specifically, when the gear of the vehicle is in the 'R (reverse)' state, the sensor data receiving unit 101 receives the time taken for the ultrasonic signal reflected from the rear obstacle sensor 10 mounted on the vehicle do. In addition, in order to determine whether an obstacle detected from the rear detection sensor 10 is an actual obstacle, the ultrasound signal receiving unit 102 receives the sensed value of the ultrasonic signal and transmits the sensed value to the obstacle determination unit 102.

At this time, the rear detection sensor 10 detects an obstacle present in the left and right dead zones around the rear and rear of the vehicle, and includes a rear right (RR) sensor, a rear left (RL) Sensor, a rear center right (RCR) sensor, and a rear center left (RCL) sensor.

The sensor data receiving unit 101 receives a temperature value outside the vehicle from the temperature sensor 20 and the humidity sensor 30 mounted on the vehicle to correct an error according to temperature and humidity of the measured value using the ultrasonic signal, And the humidity value to the obstacle determining unit 102.

The obstacle determining unit 102 corrects the error of the measured value using the ultrasonic signal generated by the temperature and humidity outside the vehicle and provides the driver with accurate information about the obstacle located behind the vehicle.

Specifically, the obstacle determining unit 102 searches the database 104 for the sensitivity correction coefficient values corresponding to the temperature values and the humidity values obtained from the temperature sensor 20 and the humidity sensor 30, respectively.

The obstacle determining unit 102 corrects the sensing value of the ultrasonic signal acquired from the sensor data receiving unit 101 using the sensed correction coefficient value and determines whether the sensed obstacle is an actual obstacle .

Hereinafter, a method of correcting a sensed value using sensitivity correction coefficient values will be described in detail with reference to FIGS. 3A and 3B. FIG.

3A and 3B are views showing sensitivity correction coefficient values stored in the database 104 of the parking assist system according to an embodiment of the present invention.

FIG. 3A is a graph showing different sensitivity correction coefficient values according to humidity, and FIG. 3B is a table showing the sensitivity correction coefficient values of FIG. 3A. Hereinafter, a process of correcting the error of the sensed value of the ultrasonic signal will be described with reference to FIG. 3B.

3B represents the temperature value (T, DEG C) and the horizontal axis represents the humidity value (Hr,%). The obstacle determining unit 102 searches the database 104 for the sensitivity correction coefficient values corresponding to the temperature values and the humidity values obtained from the temperature sensor 20 and the humidity sensor 30, respectively. For example, if the obtained temperature value is 20 DEG C and the humidity value is 50%, the sensitivity correction coefficient value becomes 2.8296229 (about 2.83) according to FIG. 3B.

The obstacle determining unit 102 corrects the sensing value of the ultrasonic signal acquired from the sensor data receiving unit 101 using the sensed correction coefficient value. For example, if the sensed value of the acquired ultrasonic signal is 2.2V and the retrieved sensitivity correction coefficient value is 2.83, the detection value of the ultrasonic signal is 2.37 (3 - 2.83 + 2.2 = 2.37V) according to the predetermined correction logic, .

Thereafter, when the corrected detection value has a value equal to or greater than a predetermined threshold value (obstacle threshold value), the obstacle reflecting the ultrasonic signal is not an obstacle mistaken for temperature or humidity, It is judged to be an obstacle.

That is, the parking assist system according to an embodiment of the present invention corrects an error according to the temperature and humidity of the sensed sensed value using the ultrasonic signal, thereby obtaining an improved determination result in determining the sensed obstacle as a real obstacle It provides an advantage that can be done.

The obstacle determining unit 102 calculates the distance between the obstacle and the vehicle determined as an actual obstacle based on the time of the ultrasonic signal acquired from the sensor data receiving unit 101. The technique for calculating the distance to the obstacle by using the time taken for the ultrasonic signal to be reflected from the obstacle and input is the same as that in the known art, so a detailed description will be omitted.

Then, the obstacle determining unit 102 calculates the distance correction coefficient value according to the equation (2) using the temperature value acquired from the temperature sensor 20, and calculates the distance between the calculated vehicle and the obstacle as the distance correction coefficient Value.

For example, if the obtained temperature value is 20 DEG C and the distance between the calculated vehicle and the obstacle is 1 m, the obstacle determining unit 102 calculates the distance correction coefficient value to 0.00291121 (unit: second).

FIG. 4 is a table showing an example of the distance correction coefficient value calculated by Equation (2). The vertical axis in Fig. 4 represents the temperature value (T, 占 폚) and the horizontal axis represents the distance (m) between the vehicle and the obstacle.

The alarm output unit 103 outputs an alarm sound according to the distance between the vehicle and the obstacle corrected by the obstacle determination unit 102 to the driver by using a buzzer 40 or a distance between the corrected vehicle and the obstacle And outputs the warning message to the driver using the display 50 device.

That is, the parking assist system according to an embodiment of the present invention corrects sensed values of ultrasound signals depending on temperature and humidity and senses obstacles behind the vehicle using the sensed sensed values. Also, in calculating the distance between the sensed vehicle and the obstacle, it is possible to provide the driver with the position information of the obstacle with improved accuracy and reliability by correcting the error of the distance according to the temperature.

FIG. 2 is a flowchart illustrating a process of a parking assisting method according to an embodiment of the present invention.

A value for detecting obstacles existing in rear and quadrature periods of the vehicle and a value for sensing temperature and humidity around the vehicle are received (S200).

More specifically, the time taken for an ultrasonic signal to be reflected by an obstacle and returned from a plurality of rear detection sensors including a rear right sensor, a rear left sensor, a rear center right sensor and a rear center left sensor mounted on the rear of the vehicle, Lt; / RTI >

In addition, in order to correct an error caused by the temperature and the humidity of the measured time and the sensed value using the ultrasonic signal, a temperature value and a humidity value outside the vehicle are respectively received from the temperature sensor and the humidity sensor mounted on the vehicle .

And judges whether or not the network communication is abnormal when the received temperature value and the humidity value are received using the network communication (e.g., LIN or CAN) of the vehicle. If the received temperature value and the humidity value are not abnormal, (S210).

The sensitivity correction coefficient value corresponding to the received temperature value and humidity value is retrieved from the database and the sensed value of the ultrasonic signal is corrected using the retrieved sensitivity correction coefficient value at step S220.

Specifically, the database stores the sensitivity correction coefficient values corresponding to the temperature value and the humidity value, and the database outputs the sensitivity correction coefficient value corresponding to the input value when the temperature value and the humidity value are inputted. For example, if the obtained temperature value is 20 DEG C and the humidity value is 50%, the database outputs the sensitivity correction coefficient value to 2.83 as shown in FIG. 3B.

Then, the received sensing value is corrected using the output sensitivity correction coefficient value. For example, if the sensed value of the received ultrasound signal is 2.2V and the output sensitivity correction coefficient value is 2.83, it is corrected to 2.37 according to Equation (1).

If the corrected detection value has a value equal to or greater than a predetermined threshold value, it is determined that the obstacle reflecting the ultrasonic signal is an obstacle with a risk of collision with an actual vehicle (S230).

In other words, the parking assisting method according to an embodiment of the present invention compensates for an error according to temperature and humidity of sensed sensed values using ultrasound signals, thereby using the sensed obstacle as an actual obstacle, And provides the advantage of obtaining results.

The distance between the obstacle judged to be an actual obstacle and the vehicle is calculated using the received time (S240). The technique for calculating the distance using the time of the received ultrasound signal is the same as that in the known art, so a detailed description thereof will be omitted.

The distance correction coefficient value is calculated using the received temperature value, and the calculated distance between the vehicle and the obstacle is corrected using the distance correction coefficient value (S250).

For example, if the received temperature value is 20 占 폚 and the distance between the calculated vehicle and the obstacle is 1 m, the distance correction coefficient value is calculated as 0.00291121 according to the above-described equation (2).

The alarm sound according to the corrected distance is output to the driver using the buzzer or the warning message according to the corrected distance is output to the driver using the display (S260).

The foregoing description is merely illustrative of the technical idea of the present invention and various changes and modifications may be made without departing from the essential characteristics of the present invention. Therefore, the embodiments of the present invention are not intended to limit the scope of the present invention, and the scope of the present invention is not limited by these embodiments. It is intended that the present invention cover the modifications and variations of this invention provided they come within the scope of the appended claims and their equivalents, which fall within the scope of the present invention as claimed.

Claims (10)

A sensor data receiving unit for receiving a time when an ultrasonic signal is reflected from an obstacle around the vehicle and returns, a sensed value of the ultrasonic signal, a temperature value outside the vehicle, and a humidity value outside the vehicle;
And corrects the sensed value using the temperature value and the humidity value, and determines that the obstacle is an actual obstacle if the corrected sensed value is equal to or greater than a preset threshold value, An obstacle determining unit for correcting the obstacle using the obstacle; And
An alarm output unit for outputting an alarm according to the corrected distance,
And a parking assist system.
The apparatus of claim 1, wherein the obstacle determining unit
And correcting the sensed value using the temperature value and the sensitivity correction coefficient value corresponding to the humidity value
In parking assist system.
The apparatus of claim 1, wherein the obstacle determining unit
And correcting the distance using the distance and the distance correction coefficient value corresponding to the temperature value
In parking assist system.
The apparatus of claim 1, wherein the sensor data receiver
And receiving the time and the sensing value from a plurality of rear sensors mounted on the rear of the vehicle if the vehicle is in a reverse state
In parking assist system.
The apparatus of claim 1, wherein the sensor data receiver
Receiving the temperature value from a temperature sensor mounted on the vehicle when the vehicle is in a reverse state and receiving the humidity value from a humidity sensor mounted on the vehicle
In parking assist system.
The apparatus according to claim 1, wherein the alarm output unit
Outputting an alarm sound according to the corrected distance using a buzzer mounted on the vehicle and outputting a warning message according to the corrected distance using a display mounted on the vehicle
In parking assist system.
Receiving the reflected arrival signal of the obstacle near the vehicle, the detected value of the ultrasonic signal, the temperature value outside the vehicle, and the humidity value outside the vehicle;
Correcting the sensed value using the temperature value and the humidity value, and determining the obstacle as an actual obstacle if the corrected sensed value is equal to or greater than a predetermined threshold value;
Correcting a distance between the actual obstacle and the vehicle using the temperature value; And
Outputting an alarm according to the corrected distance
And a parking assistant.
8. The method of claim 7,
Determining whether the temperature value and the humidity value are valid by determining whether the network communication is abnormal when receiving the temperature value and the humidity value via the network communication of the vehicle,
Further comprising a parking assistant.
The method of claim 7, wherein the step of correcting the sensed value using the temperature value and the humidity value and determining the obstacle as an actual obstacle when the corrected sensed value is equal to or greater than a predetermined threshold value
If the corrected sensing value is smaller than a predetermined threshold value, it is determined that the obstacle is not an actual obstacle
Parking assistant.
The method of claim 7, wherein the step of correcting the sensed value using the temperature value and the humidity value and determining the obstacle as an actual obstacle when the corrected sensed value is equal to or greater than a predetermined threshold value
And correcting the sensing value using the temperature value and the sensitivity correction coefficient value corresponding to the humidity value
Parking assistant.

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