KR20160039460A - Slope parking assist system and method using tire sensor - Google Patents

Slope parking assist system and method using tire sensor Download PDF

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Publication number
KR20160039460A
KR20160039460A KR1020140132575A KR20140132575A KR20160039460A KR 20160039460 A KR20160039460 A KR 20160039460A KR 1020140132575 A KR1020140132575 A KR 1020140132575A KR 20140132575 A KR20140132575 A KR 20140132575A KR 20160039460 A KR20160039460 A KR 20160039460A
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KR
South Korea
Prior art keywords
vehicle
tire
pressure
wheel
obstacle
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KR1020140132575A
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Korean (ko)
Inventor
유현재
박성두
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현대모비스 주식회사
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Priority to KR1020140132575A priority Critical patent/KR20160039460A/en
Publication of KR20160039460A publication Critical patent/KR20160039460A/en

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Abstract

Provided are a slope parking assistance system using a tire sensor and a method for the same. The slope parking assistance system using a tire sensor comprises: a tire sensor measuring the pressure of a vehicle tire; an obstacle detection unit detecting an obstacle around the vehicle; a slope direction determination unit determining a slope direction of the vehicle by using the pressure of the tire measured by the tire sensor when the vehicle is in a parked state; and a wheel control unit which determines the rotational direction of the vehicle wheel by using the slope direction of the vehicle determined by the slope direction determination unit and the location of the obstacle detected by the obstacle detection unit, and rotates the vehicle wheel in accordance with the determined rotational direction. Therefore, the present invention can prevent sliding of the vehicle.

Description

TECHNICAL FIELD [0001] The present invention relates to a slope parking assist system and a slope parking assist system using a tire sensor,

The present invention relates to a system for assisting parking of a vehicle, and more particularly, to a parking assisting system for a vehicle in a ramp for preventing a vehicle from slipping down along a ramp by automatically rotating the vehicle wheel when parking the ramp, It is about the method.

Generally, when parking the vehicle on a ramp, change the transmission gear to the first gear or reverse gear (in the case of a manual transmission vehicle) or change the shift lever to the parking position (P range) Activate the parking brake (for automatic transmission vehicles).

However, even if the driver operates the parking brake and then gets off, the vehicle slides down due to the parking brake aging of the vehicle, the weight of the vehicle itself, the inclination of the ramp, the external shock, A contact accident may occur.

In this case, the accident caused by the direction of the wheel of the vehicle occurs when the direction of the wheel of the vehicle is the same as the direction of the ramp. To solve this problem, it is recommended to turn the steering wheel of the vehicle in one direction at the time of parking. However, the majority of drivers forget or do not care about this, since the direction of the ramp matches the direction of the wheels of the vehicle, which increases the slip distance and increases the acceleration when the car slides on the ramp.

Therefore, when parking the vehicle on a conventional ramp, the vehicle steering control device detects an obstacle in contact with the tire by using a wheel axis sensor when parking the ramp, and measures the inclination direction of the vehicle using a gravity sensor or a tilt sensor. And the steering of the vehicle wheel is automatically controlled according to the position and inclination of the detected obstacle (Publication No. 10-2014-0049777).

However, the majority of vehicles currently installed are provided with sensors for measuring the pressure of the tire, so that it is not necessary to install a wheel axis sensor, a gravity sensor, a tilt sensor, etc. separately in the vehicle as in the prior art, By using the tire sensor, it is possible to detect an obstacle in contact with the tire and determine the inclination direction of the vehicle.

SUMMARY OF THE INVENTION In order to solve the above-described problems, according to the present invention, when a vehicle is parked on a ramp, a tire sensor mounted on the vehicle measures the pressure of the tire and determines the inclination direction of the vehicle using the measured pressure. And a tire sensor for preventing slippage of the vehicle by rotating the wheel of the vehicle until an obstacle is brought into contact with the tire according to the judged slope direction, and a method thereof.

According to an aspect of the present invention, there is provided a ramp parking assist system using a tire sensor, including a tire sensor for measuring a pressure of a vehicle tire, a obstacle detection unit for detecting an obstacle around the vehicle, An inclination direction determination unit for determining an inclination direction of the vehicle by using a pressure of a tire measured by the tire sensor, and an inclination direction determination unit for determining an inclination direction of the vehicle based on the inclination direction of the vehicle and the position of the obstacle detected by the obstacle detection unit. And a wheel control unit for determining the rotational direction of the wheel and for rotating the vehicle wheel in accordance with the determined rotational direction.

Wherein the inclination direction determination unit calculates the pressure increase degree of the tire by comparing the average pressure of the tire measured when the vehicle is in the traveling state with the pressure of the tire measured when the vehicle is in the parking state, And determines the inclination direction of the vehicle by using the degree of pressure increase / decrease.

The wheel control unit rotates the vehicle wheel to a maximum steering angle of the vehicle wheel in accordance with the determined rotation direction. The wheel control unit stops the rotation of the vehicle wheel when the tire pressure measured by the tire sensor is equal to or higher than the reference pressure during the rotation of the vehicle wheel.

The tire sensor may be a tire pressure monitoring system (TPMS) sensor mounted on the vehicle tire.

The obstacle sensing unit may be a Smart Parking Assist System (SPAS).

Meanwhile, according to another aspect of the present invention, a ramp assistant method using a tire sensor includes measuring a pressure of a vehicle tire, determining a slope direction of the vehicle using the measured pressure of the tire when the vehicle is parked Determining a direction of rotation of the vehicle wheel based on the detected direction of the vehicle and the detected position of the obstacle, and determining the direction of rotation of the vehicle wheel in accordance with the determined direction of rotation .

Wherein the step of determining the inclination direction of the vehicle compares the average pressure of the tire measured when the vehicle is running and the pressure of the tire measured when the vehicle is in the parking state, And determining the inclination direction of the vehicle using the calculated degree of pressure increase / decrease.

Wherein rotating the vehicle wheel includes rotating the vehicle wheel to a maximum steering angle of the vehicle wheel in accordance with the determined direction of rotation and stopping rotation of the vehicle wheel when an obstacle is in contact with the tire during rotation of the vehicle wheel .

According to the present invention, in order to prevent slipping of the vehicle when parking the vehicle on a slope, it is unnecessary to mount a separate sensor on the vehicle, so that a large number of tire sensors mounted on the vehicle (TPMS sensor) And provides an advantage that the steering of the vehicle can be controlled by detecting an obstacle in contact therewith.

1 is a block diagram showing the configuration of a ramp parking assist system using a tire sensor according to an embodiment of the present invention.
FIG. 2 is a flowchart briefly showing a process of a ramp parking assist method using a tire sensor according to an embodiment of the present invention.
FIG. 3 is a flowchart specifically illustrating a process of a ramp parking assist method using a tire sensor 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 the configuration of a ramp parking assist system using a tire sensor according to an embodiment of the present invention.

1, a ramp parking assist system using a tire sensor according to an embodiment of the present invention includes a tire sensor 100, an inclination direction determination unit 110, a obstacle detection unit 120, and a wheel controller 130 ).

The tire sensor 100 is mounted on a vehicle tire and measures the pressure of each of the tires. The tilt direction determination unit 110 provides the pressure value of the tire measured by the wired or wireless communication method.

The tire sensor 100 of the ramp parking assistance system using the tire sensor 100 according to an embodiment of the present invention can be used for a tire pressure monitoring system TPMS, Pressure Monitoring System) sensor.

The inclination direction determination unit 110 determines the inclination direction of the vehicle using the tire pressure value provided from the tire sensor 100. [

Specifically, the oblique direction determination unit 110 collects information indicating the running state of the vehicle (for example, speed, whether to use the brakes, mileage, running time, etc.) and determines whether the vehicle is parked do.

If the vehicle is parked, the inclination direction determination unit 110 compares the average pressure value of the tire measured when the vehicle is in a running state with the pressure value of the tire measured when the vehicle is parked . The inclination direction determination unit 110 calculates the degree of increase / decrease of each tire pressure value based on the running state.

For example, when the vehicle is parked with its front (rear) inclined, the wheels of the vehicle receive more load than usual at the front (rear), and the inner pressure of the front (or rear) tire increases at the front The load on the rear (front) tire is increased compared to when it is in the flat state to withstand the load, and the inner pressure of the rear (front) tire is reduced as compared to when it is in the flat state.

Therefore, the inclination direction determination unit 110 can determine the inclination direction of the vehicle when the vehicle is parked on the ramp using the pressure increase / decrease degree of each of the tires calculated on the basis of the traveling state (particularly, when traveling in the flat state). The inclination direction determination unit 110 provides the inclination direction of the determined vehicle to the wheel control unit 130 when the inclination direction determination of the vehicle is completed.

In addition, when the oblique direction determination unit 110 determines that the vehicle is in the oblique direction, the obstacle detection unit 120 detects an obstacle around the vehicle and provides the detected position of the obstacle to the wheel controller 130.

The obstacle detection unit 120 of the inclined parking assist system using the tire sensor 100 according to an embodiment of the present invention searches the parking space using the rear detection sensor and automatically controls the steering wheel of the vehicle, And a Smart Parking Assist System (SPAS) that helps the driver to get out of the car.

The wheel control unit 130 determines the direction of rotation of the vehicle wheel using the inclination direction of the vehicle provided by the inclination direction determination unit 110 and the position information of the obstacle provided by the obstacle detection unit 120, Thereby rotating the wheel of the vehicle.

Specifically, the wheel controller 130 determines that the oblique direction determination unit 110 determines that the oblique direction of the vehicle is forward (or backward), and if the obstacle sensing unit 120 does not have an obstacle on the side of the vehicle, If it is judged that an obstacle exists, the wheels of the vehicle are aligned in a line.

For example, when the vehicle is parked with an inclination toward the front and there is an obstacle in front of the vehicle, the wheel control unit 130 arranges the wheels of the vehicle in a line to contact the obstacle with the vehicle so as to prevent the vehicle from slipping forward.

Alternatively, the wheel control unit 130 may determine that the oblique direction determination unit 110 determines that the oblique direction of the vehicle is forward (or backward). If the obstacle sensing unit 120 determines that an obstacle exists on the side of the vehicle, To rotate the wheel.

For example, when the vehicle is parked with the vehicle inclined forward and an obstacle exists on the left side of the front wheel when the front wheel of the vehicle is referred to, the wheel control unit 130 controls the wheel of the vehicle to rotate the front wheel in the leftward direction So that the vehicle does not slip forward.

As another example, when the vehicle is parked with the vehicle inclined rearward and an obstacle exists on the left side of the front wheel when the front wheel of the vehicle is referenced, the wheel control unit 130 controls the wheel of the vehicle to move the front wheel in the leftward direction Rotate to prevent the vehicle from slipping forward.

In addition, when the wheel of the vehicle is controlled according to the determined rotation direction, the wheel control unit 130 determines whether the tire pressure value measured through the tire sensor 100 is equal to or greater than a preset reference pressure value, The rotation of the vehicle wheel is stopped.

This is to determine whether or not an obstacle is in contact with the tire, and when the obstacle comes into contact with the tire, the inner pressure of the tire increases, so that the wheel control unit 130 recognizes the inner pressure so that the vehicle wheel is no longer rotated. Accordingly, the wheels of the vehicle are fixed so that the vehicle does not slip down from the ramp continuously by the obstacle.

On the other hand, when the vehicle wheel is controlled according to the determined rotation direction, if the tire pressure value is maintained below the reference pressure value, the wheel control unit 130 rotates the vehicle wheel to the maximum steering angle of the vehicle wheel. This is to fix the tire so that the vehicle does not slip down from the ramp by causing friction between the tire and the ground by rotating the tire in a direction that is different from the direction of the ramp even if the obstacle is not in contact with the tire.

Hereinafter, the operation of the system shown in FIG. 1 will be briefly described with reference to FIG.

FIG. 2 is a flowchart briefly showing a process of a ramp parking assist method using a tire sensor according to an embodiment of the present invention.

As shown in FIG. 2, the inclined parking assist system using the tire sensor according to an embodiment of the present invention checks whether the vehicle is parked (S200). If the vehicle is parked, a tire pressure monitoring system (TPMS, Monitoring System) The oblique direction of the vehicle is checked through the sensor (S205).

When the direction of the oblique direction is confirmed, the position of the obstacle is determined by operating the Smart Parking Assist System (SPAS) (S210). The position of the obstacle and the inclination direction of the vehicle are rotated (S215).

When an obstacle comes into contact with the tire, the rotation of the vehicle is stopped and the rotation of the wheel is terminated (S225).

If an obstacle does not contact the tire when the wheel of the vehicle is rotated, the wheel of the vehicle is rotated to the maximum steering angle of the vehicle wheel and the rotation of the vehicle wheel is terminated (S225).

Hereinafter, the operation of the system shown in FIG. 2 will be described in detail with reference to FIG.

FIG. 3 is a flowchart specifically illustrating a process of a ramp parking assist method using a tire sensor according to an embodiment of the present invention.

3, the ramp parking assist method using the tire sensor according to an embodiment of the present invention firstly includes information (e.g., speed, use of brakes, mileage, running time, etc.) To determine whether the vehicle is parked (S300).

As a result of the determination, if the vehicle is parked, the average pressure value of the tire measured when the vehicle is running and the pressure value of the tire measured when the vehicle is in the parking state are compared (S305) Of the tire pressure value of the tire.

For example, when the vehicle is parked with its front (rear) inclined, the wheels of the vehicle receive more load than usual at the front (rear), and the inner pressure of the front (or rear) tire increases at the front The load on the rear (front) tire is increased compared to when it is in the flat state to withstand the load, and the inner pressure of the rear (front) tire is reduced as compared to when it is in the flat state.

As a result of the calculation, if there is a tire having an increased or decreased pressure (meaning that the vehicle is parked on the ramp), the direction of inclination of the vehicle is determined (S315).

When the determination of the inclination direction is completed, a Smart Parking Assist System (SPAS) is operated (S320) to determine whether an obstacle exists around the vehicle (S325).

If the obstacle is detected, the position of the obstacle is determined (S335), the direction of rotation of the vehicle wheel is determined according to the determined position information of the obstacle (S340), and the wheel of the vehicle is rotated in accordance with the determined direction of rotation ).

For example, when the vehicle is parked with the vehicle inclined forward and an obstacle is present on the left side of the front wheel based on the front wheel of the vehicle, the front wheel is rotated rightward by controlling the vehicle wheel so that the vehicle slides forward .

On the other hand, if it is determined that there is no obstacle on the side of the vehicle or if there is an obstacle in front of the vehicle, the wheels of the vehicle are aligned in a line (S330).

For example, when the vehicle is parked with an inclination toward the front and there is an obstacle in front of the vehicle, the wheels of the vehicle are aligned in line to contact the obstacle with the vehicle so as to prevent the vehicle from slipping forward.

When controlling the vehicle wheel according to the determined rotation direction, it is determined whether the tire pressure value measured through the tire sensor is equal to or greater than a predetermined reference pressure value (S350). If the measured tire pressure value is equal to or greater than the reference pressure value, (S360).

This is to judge whether an obstacle is in contact with the tire, so that when the obstacle comes into contact with the tire, the inner pressure of the tire increases, so that the vehicle wheel is not rotated any more. Accordingly, the wheels of the vehicle are fixed so that the vehicle does not slip down from the ramp continuously by the obstacle.

On the other hand, when the vehicle wheel is controlled according to the determined rotation direction, if the tire pressure value is kept below the reference pressure value, the wheel of the vehicle is rotated to the maximum steering angle of the vehicle wheel (S355). This is to fix the tire so that the vehicle does not slip down from the ramp by causing friction between the tire and the ground by rotating the tire in a direction that is different from the direction of the ramp even if the obstacle is not in contact with the tire.

That is, according to the present invention, a TPMS sensor mounted on a vehicle is used to determine whether the vehicle is inclined or obstructed when the vehicle is parked on a ramp, and controlling the wheels of the vehicle according to the determined result to prevent the vehicle from slipping .

According to the present invention, one TPMS sensor can perform the functions performed by two sensors (inclination measuring sensor and wheel axis sensor) in the conventional vehicle steering control system, thereby providing an advantage of improved sensor efficiency.

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)

  1. A tire sensor for measuring the pressure of the vehicle tire;
    A obstacle sensing unit for sensing an obstacle around the vehicle;
    An inclination direction determination unit for determining an inclination direction of the vehicle using the pressure of the tire measured by the tire sensor when the vehicle is parked; And
    A wheel control unit for determining the turning direction of the vehicle wheel by using the inclination direction of the vehicle determined by the inclination direction determination unit and the position of the obstacle detected by the obstacle detection unit and for rotating the vehicle wheel according to the determined rotation direction,
    A ramp parking assist system using a tire sensor.
  2. The apparatus of claim 1, wherein the inclination direction determination unit
    Wherein the tire sensor calculates a pressure increase degree of the tire by comparing an average pressure of the tire measured when the vehicle is running and a pressure of the tire measured when the vehicle is in a parked state, To determine the inclination direction of the vehicle
    A ramp parking assist system using an in - tire sensor.
  3. 2. The steering apparatus according to claim 1, wherein the wheel control unit
    And rotating the vehicle wheel to a maximum steering angle of the vehicle wheel in accordance with the determined rotation direction
    A ramp parking assist system using an in - tire sensor.
  4. 2. The steering apparatus according to claim 1, wherein the wheel control unit
    And stopping the rotation of the vehicle wheel when the tire pressure measured by the tire sensor is equal to or higher than the reference pressure during the rotation of the vehicle wheel
    A ramp parking assist system using an in - tire sensor.
  5. The tire of claim 1, wherein the tire sensor
    A tire pressure monitoring system (TPMS) sensor mounted on the vehicle tire
    A ramp parking assist system using an in - tire sensor.
  6. The apparatus of claim 1, wherein the obstacle sensing unit
    A Smart Parking Assist System (SPAS) of the vehicle
    A ramp parking assist system using an in - tire sensor.
  7. Measuring the pressure of the vehicle tire;
    Determining the inclination direction of the vehicle using the measured pressure of the tire when the vehicle is parked;
    Detecting an obstacle around the vehicle;
    Determining the direction of rotation of the vehicle wheel using the determined slope direction of the vehicle and the detected position of the obstacle; And
    Rotating the vehicle wheel according to the determined rotation direction
    Wherein the tilt sensor comprises a tilt sensor.
  8. 8. The method as claimed in claim 7, wherein the step of judging the inclination direction of the vehicle
    Calculating a pressure increase degree of the tire by comparing an average pressure of the tire measured when the vehicle is in a running state with a pressure of the tire measured when the vehicle is in a parking state; And
    And determining the inclination direction of the vehicle using the calculated degree of pressure increase / decrease
    A ramp assisted parking method using an in - tire sensor.
  9. 8. The method of claim 7, wherein rotating the vehicle wheel
    Rotating the vehicle wheel to a maximum steering angle of the vehicle wheel according to the determined rotation direction; And
    And stopping the rotation of the vehicle wheel when an obstacle comes into contact with the tire during rotation of the vehicle wheel
    A ramp assisted parking method using an in - tire sensor.
  10. 10. The method of claim 9, wherein stopping rotation of the vehicle wheel
    And determining that the obstacle is in contact with the tire when the tire pressure is measured to be equal to or higher than the reference pressure
    A ramp assisted parking method using an in - tire sensor.
KR1020140132575A 2014-10-01 2014-10-01 Slope parking assist system and method using tire sensor KR20160039460A (en)

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Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10234868B2 (en) 2017-06-16 2019-03-19 Ford Global Technologies, Llc Mobile device initiation of vehicle remote-parking
US10232673B1 (en) 2018-06-01 2019-03-19 Ford Global Technologies, Llc Tire pressure monitoring with vehicle park-assist
US10281921B2 (en) 2017-10-02 2019-05-07 Ford Global Technologies, Llc Autonomous parking of vehicles in perpendicular parking spots
US10336320B2 (en) 2017-11-22 2019-07-02 Ford Global Technologies, Llc Monitoring of communication for vehicle remote park-assist
US10369988B2 (en) 2017-01-13 2019-08-06 Ford Global Technologies, Llc Autonomous parking of vehicles inperpendicular parking spots
US10384605B1 (en) 2018-09-04 2019-08-20 Ford Global Technologies, Llc Methods and apparatus to facilitate pedestrian detection during remote-controlled maneuvers

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10369988B2 (en) 2017-01-13 2019-08-06 Ford Global Technologies, Llc Autonomous parking of vehicles inperpendicular parking spots
US10234868B2 (en) 2017-06-16 2019-03-19 Ford Global Technologies, Llc Mobile device initiation of vehicle remote-parking
US10281921B2 (en) 2017-10-02 2019-05-07 Ford Global Technologies, Llc Autonomous parking of vehicles in perpendicular parking spots
US10336320B2 (en) 2017-11-22 2019-07-02 Ford Global Technologies, Llc Monitoring of communication for vehicle remote park-assist
US10232673B1 (en) 2018-06-01 2019-03-19 Ford Global Technologies, Llc Tire pressure monitoring with vehicle park-assist
US10384605B1 (en) 2018-09-04 2019-08-20 Ford Global Technologies, Llc Methods and apparatus to facilitate pedestrian detection during remote-controlled maneuvers

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