KR20160057151A - Deice for parking assist system and method thereof - Google Patents

Abstract

Disclosed are a parking assisting device for a vehicle, and a method for operating the same. According to one aspect and one embodiment of the present invention, the parking assisting device for a vehicle comprises: a sensing unit sensing an obstacle around a vehicle; a confirmation unit confirming the gear of the vehicle; and a control unit determining whether or not the vehicle is moved while a gear of the vehicle is in a neutral gear and determining whether or not the peripheral obstacle exists within a predetermined distance of the vehicle through a sensing signal inputted from the sensing unit when the vehicle is moving as a result of determination. Therefore, the purpose of the present invention is to prevent a minor collision of the vehicle parked in a neutral gear.

Description

[0001] The present invention relates to a parking assist apparatus,

BACKGROUND OF THE INVENTION 1. Field of the Invention [0002] The present invention relates to a parking assist apparatus for a vehicle, and more particularly to an assistant technique for a neutral parked vehicle.

Generally, in order for a driver to recognize the movement of another vehicle or an object located at the rear or side of the vehicle when the vehicle is running or when the vehicle is parked, a vehicle mirror (for example, a rearview mirror and a side mirror) . However, with such a vehicle mirror, the driver can not know the details of the blind spot around the vehicle.

For this reason, recently, a vehicle bumper is provided with a vehicle obstacle detection device, that is, a parking assist system (PAS), in order to prevent a safety accident caused by a collision with an obstacle or a person when the vehicle is backed up or parked. Specifically, a control unit (Electronic Control Uni, ECU) for controlling the overall operation of the parking assist system senses the existence of obstacles around the vehicle by using a sensor mounted on the vehicle, (Warning) to a driver through a buzzer or a display device (cluster or AV) connected by communication, thereby preventing safety accidents such as various contact accidents.

The control unit of the parking assist system differentially generates three levels of warning depending on the distance between the vehicle and the obstacle. For example, when the distance between the vehicle and the obstacle of the parking assist system is 81 cm to 120 cm, a primary warning, a 41 to 80 cm secondary warning, and a 40 cm or less tertiary warning are generated.

At this time, an ultrasonic sensor is mainly used for the parking assist system. The control unit transmits an ultrasonic wave of a specific band through an ultrasonic sensor connected by a LIN (Local Interconnect Network) communication, receives an ultrasonic signal of a specific band reflected by the obstacle, detects an approach direction and an approach distance of an obstacle .

Here, the ultrasonic sensor (PAS sensor) for the parking assist system is composed of a total of eight sensors as shown in the configuration shown in FIG. For example, four sensors (Front Right, Front Center Right, FCL, Front Left, and Front Left) are installed in front of the vehicle (front bumper) to detect obstacles around the front of the vehicle. (Rear Right), Rear Center Left (RCL), and Rear Left (RL) sensors on the rear of the vehicle (rear bumper) to detect obstacles around the rear of the vehicle Respectively.

On the other hand, under the condition that the parking assist system is operated, when the power source of the vehicle is switched on when the ignition 1 (IGN1) is ON and the gear of the vehicle is in the forward (D) or reverse (R) When the PAS switch is turned ON, the PAS sensor is activated to detect obstacles around the vehicle.

However, in general, when the vehicle is parked with the gear of the vehicle set to the neutral (N) stage, the vehicle can be moved back and forth by an external force (user). At this time, the control unit of the parking control system does not detect an obstacle even if an obstacle comes close to the vehicle according to the movement of the vehicle, and does not recognize the distance and does not generate a warning. Accordingly, a user moving a neutral parked vehicle has inconvenience to check the position of the vehicle and the obstacle from time to time, and occasionally a light contact accident of the vehicle occurs. In addition, the driver of the vehicle is reluctant to neutral parking, and there are many drivers who suffer from difficulty in parking in a narrow parking space.

SUMMARY OF THE INVENTION It is an object of the present invention to provide a technical solution for preventing a contact accident of a neutral parked vehicle.

According to an aspect of the present invention, there is provided a parking assisting apparatus for a vehicle, comprising: a sensing unit for sensing an obstacle around the vehicle; a confirmation unit for confirming a gear position of the vehicle; And a control unit for determining whether there is a peripheral obstacle within a predetermined distance of the vehicle through the sensing signal inputted from the sensing unit if the vehicle is moving as a result of the determination.

According to another aspect of the present invention, there is provided a parking assisting method for a vehicle, comprising the steps of: confirming whether a gear of the vehicle is in a neutral (N) state in a state where a vehicle key is turned off; Determining whether the vehicle is moving; and, if the movement of the vehicle is confirmed, sensing a peripheral obstacle of the vehicle using the sensor.

The parking assisting device for a vehicle according to the embodiment of the present invention is configured such that when the vehicle is in a neutral parking state in which the gear of the vehicle is in the neutral position and the vehicle key is released from the key switch box, (Person or the like), it detects an obstacle around the vehicle and grasps the distance, and outputs a warning sound to the outside, thereby suppressing an unnecessary contact accident between the vehicle and the obstacle even when the vehicle is parked neutral And the person moving the vehicle (external force) does not check the distance from the obstacle around the vehicle, thereby greatly improving the convenience.

In addition, the vehicle parking assist apparatus according to the embodiment of the present invention adds a neutral parking condition to an existing PAS system, so that a parking assist (PAS) is possible even in a state where the driver is not in the car and is parked in neutral.

BRIEF DESCRIPTION OF THE DRAWINGS Fig. 1 is a block diagram showing a configuration of a conventional parking assist system. Fig.
2 is a block diagram of a parking assist device for a vehicle according to an embodiment of the present invention;
3 is a view showing a configuration of a parking assisting device for a vehicle according to another embodiment of the present invention.
4 is a flowchart of a parking assisting method for a vehicle 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 being 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. And is provided to fully convey the scope of the invention to those skilled in the art, and the present invention is defined by 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. In the present specification, the singular form includes plural forms unless otherwise specified in the specification. It is noted that " comprises, " or "comprising," as used herein, means the presence or absence of one or more other components, steps, operations, and / Do not exclude the addition.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. In the drawings, like reference numerals refer to like elements throughout. In the drawings, like reference numerals are used to denote like elements, and in the description of the present invention, In the following description, a detailed description of the present invention will be omitted.

In the parking assisting device for a vehicle according to the embodiment of the present invention, when the vehicle is moved by an external force (such as a person) while the vehicle is parked in neutral, it detects an obstacle around the vehicle and grasps the distance, Thereby preventing collision between them. Here, the neutral parking condition is a case where the gear lever (TGS Lever) of the vehicle is positioned at the neutral (N) end and the vehicle key is released from the key switch box (Key OFF).

That is, in the parking assisting device for a vehicle according to the embodiment of the present invention, when the vehicle is started but the key of the vehicle is inserted into the key switch box, The parking assisting device for a vehicle according to the embodiment of the present invention does not operate. As described above, the vehicle parking assisting device according to the embodiment of the present invention operates only when the driver intentionally carries out neutral parking for double parking, thereby securing safety.

In the parking assisting device for a vehicle according to the embodiment of the present invention, when the PAS switch is turned ON by the PAS switch operation of the driver, the neutral parking (the gear lever of the vehicle is at the neutral (N) Lt; / RTI > is released from the key switch box.

To this end, the parking assisting device for a vehicle according to the embodiment of the present invention includes the configuration as shown in Fig. 2 is a block diagram of a parking assisting device for a vehicle according to an embodiment of the present invention. 2, the vehicle parking assisting apparatus 100 includes a sensing unit 110, an identification unit 120, a control unit 130, and an output unit 140. [

The sensing unit 110 senses an obstacle located in the vicinity of the vehicle, and is a sensor for a parking assist system (PAS). For example, the PAS sensors are eight ultrasonic sensors mounted four at a predetermined position in front of and behind the vehicle.

For example, as shown in FIG. 3, four (FR, FCR, FCL, FLL, and FL) are installed in front of the vehicle (front bumper) (Rear Right), RCL (Rear Center Left), RCL (Rear Center Left), RL (Rear Center Left), and RL (Rear Left) are attached to the rear (rear bumper) (Rear Left) sensor is mounted.

At this time, the sensing unit 110 is connected to the controller 130 through LIN (Local Interconnect Network) communication. When the power supply and control signals are input from the control unit 130 in the operation waiting state, the sensing unit 110 performs transmission and reception of sensing signals for the ultrasonic signals.

The confirmation unit 120 confirms whether the vehicle key (ignition key) is released (Key OFF) from the key switch box of the vehicle. At this time, the checking unit 120 confirms the state of the wire harness that connects the key switch box and the starter motor of the vehicle to check whether the vehicle key is released.

For example, when the key of the vehicle is inserted into the key switch box, the key switch of the vehicle is connected to the starter motor through the wire harness. When the vehicle key is rotated in the key switch box due to the user's operation or the like, Respectively. If the wire harness that connects the key switch box to the starter motor is disconnected, it is confirmed that the vehicle key has disengaged from the key switch box. The key of the vehicle is released to the key switch box, whereby the power source of the vehicle is switched to the constant power source B +.

Also, the confirmation unit 120 confirms which stage the gear lever of the vehicle is located at. For example, the checking unit 120 determines which of the parking (P), reverse (R), neutral (N), and traveling (D) stages the gear lever of the vehicle is located.

As an example, the confirmation unit 120 receives the gear information from the cluster of the vehicle via the CAN communication, and confirms whether the gear lever of the vehicle is in the neutral (N) stage. As another example, the confirmation unit 120 may determine that the gear lever of the vehicle is in the neutral (N) state by using the switching-on signal received via the CAN communication from the switch of the gear position to be switched as the gear lever is located at each gear position ).

Preferably, the checking unit 120 according to the embodiment of the present invention confirms whether the gear lever of the vehicle is located at the neutral (N) end and the state of the neutral parking state where the vehicle key is deviated from the key switch box. Accordingly, the vehicle parking assisting device 100 enters the low power mode (sleep mode).

The control unit 130 is a BCM (Body Control Module) for controlling the overall operation of the parking assist system 100 according to the embodiment of the present invention. Alternatively, the control unit 130 is an ECU (Electronic Control Unit) which is an integrated type of BCM and a control unit of a TPMS (Tire Pressure Monitoring System) for a vehicle.

If the checking unit 120 determines that the vehicle is in the neutral parking state, the control unit 130 determines whether the vehicle is moving. That is, the control unit 130 determines whether the vehicle is moving in the low power mode (sleep mode).

At this time, the control unit 130 determines whether the vehicle is moving using the acceleration information of the TPMS sensor of the vehicle. The sensor for TPMS is a sensor attached to a vehicle tire to detect tire pressure, temperature and acceleration.

The control unit 130 receives the pulse signal of the TPMS sensor and determines the movement of the vehicle (change of the tire position of the vehicle) according to whether the pulse signal of the received TPMS sensor changes. If the sensor for the TPMS is of a separate type, the controller 130 receives the pulse signal through the CAN communication with the TPMS sensor.

The control unit 130 wakes up at regular intervals in the low power mode (sleep mode) of the vehicle and receives a pulse signal from the TPMS sensor to determine the movement of the vehicle. For example, the controller 130 monitors the TPMS sensor every 200 ms to determine whether the vehicle is moving.

In this way, wake up operation is performed every predetermined period in the low power mode (sleep mode), so that discharge of the power source of the vehicle can be prevented. This is similar to a SmartKey system for a vehicle, which generally checks whether to receive RF data from a smart key (FOB) by periodically waking up in the sleep mode.

When the movement of the vehicle is confirmed, that is, when the change of the tire position of the vehicle is confirmed, the control unit 130 switches the power of the vehicle to the neutral parking assist mode (Normal Power Mode). If the movement of the vehicle is not confirmed through the pulse signal of the TPMS sensor, the controller 130 maintains the low power mode (sleep mode).

When switching to the normal power mode, the control unit 130 determines whether an obstacle exists around the vehicle using the sensing information received from the sensing unit 110. [ The control unit 130 turns on the normal power mode and supplies power to the PAS sensor of the sensing unit 110 to activate the sensor. As described above, only the normal power mode is used to enable the PAS sensor to operate, thereby minimizing dark current consumption.

In addition, when the movement of the vehicle is detected in the Key OFF state and the mode is changed to the Normal Power Mode, the control unit 130 of the parking assist apparatus according to the embodiment of the present invention does not activate the CAN network of the vehicle. Accordingly, the current consumption due to the wake-up of ECUs other than the integrated ECU (BCM + TPMS) of the parking assisting device 100 for a vehicle according to the embodiment of the present invention can be blocked, Since only the device 100 is temporarily in normal power mode, the current consumed by the vehicle as a whole is very small.

For this, a power line O_PasPower is connected between the controller 130 and the sensing unit 110 as shown in FIG. The control unit 130 includes a communication unit (LIN Master) for transmitting / receiving a control signal and a sensing signal to / from the sensing unit 110. The control unit 130 operates each of the eight ultrasonic sensors according to the operation scheduling of the predetermined PAS sensor, and receives sensing information therefrom. At this time, it is preferable to minimize the amount of change of other ECUs of the vehicle other than the control unit 130, in the same manner as the operation scheduling of the conventional PAS.

Alternatively, the controller 130 operates the PAS sensor mounted on the front of the vehicle and the PAS sensor mounted on the rear of the vehicle, respectively, in accordance with the moving direction of the vehicle. For example, if it is confirmed that the vehicle is moving forward, the control unit 130 operates the PAS sensor mounted on the front of the vehicle to detect an obstacle located in front of the vehicle. Alternatively, if it is confirmed that the vehicle moves backward, the control unit 130 operates the sensor for PAS mounted on the rear of the vehicle to detect obstacles located behind the vehicle.

The control unit 130 determines that a peripheral obstacle exists if an obstacle exists within a predetermined distance based on the vehicle through the sensing information received from the sensing unit 110. [ If it is determined that a peripheral obstacle is present, the control unit 130 outputs a warning signal through the output unit 140.

At this time, the output unit 140 is an alarm output device (Ext Buzzer) for outputting a warning sound to the outside. For example, the output unit 140 is an external buzzer that generates a warning sound according to the lock and unlock of the vehicle door.

Further, when it is determined that the surrounding obstacle exists, the control unit 130 adjusts the beep according to the distance between the vehicle (sensor for PAS) and the surrounding obstacle. There are three stages of warning depending on the distance of the obstacle. For example, when the distance between the vehicle and the obstacle is between 81 cm and 120 cm, a first warning, a second warning when the distance is between 41 cm and 80 cm, and a third warning when the distance is less than 40 cm are generated. At this time, the shorter the distance, that is, the higher the warning level, the higher the volume of the warning signal or the shorter the period of time in which the warning signal is generated.

On the other hand, when the warning step according to the distance between the vehicle and the obstacle is 0, that is, 120 cm or more, the control unit 130 stops the operation of detecting the surrounding obstacle of the vehicle. Alternatively, if the distance between the vehicle and the obstacle is constant for a predetermined period of time through the sensing information received from the sensing unit 110, Is stopped. As another example, if the change of the position of the tire of the vehicle is not confirmed through the confirmation unit 120, that is, the movement of the vehicle is confirmed to be stopped, the control unit 130 stops the operation of detecting the surrounding obstacle.

If the distance between the vehicle and the obstacle does not change, the control unit 130 stops the operation of the sensing unit 110 and outputs the warning signal through the output unit 140 The operation of outputting the warning signal also stops, and switching to the low power mode interrupts the additional current consumption.

After switching to the low power mode, the control unit 130 wakes up again at a predetermined time period and confirms whether the vehicle is moving through the confirmation unit 120. [

In summary, the vehicle parking assisting device 100 according to the embodiment of the present invention controls the vehicle in the neutral parking state of the vehicle using the obtained information as shown in Table 1 below.

Information Information acquisition route How to get information Judgment Criteria Vehicle gear stage cluster CAN communication Whether the gear is neutral (N) Vehicle power status Vehicle Wire Harness LIN communication Whether Key is OFF Moving vehicles TPMS sensor TPMS sensor (CAN communication in case of separate type) Whether the pulse of the TPMS sensor changes Obstacle distance Sensor for PAS LIN communication Depending on the distance, the primary / secondary / tertiary state

The parking assisting device for a vehicle according to the embodiment of the present invention is configured such that when the vehicle is in a neutral parking state in which the gear of the vehicle is in the neutral position and the vehicle key is released from the key switch box, (Person or the like), it detects an obstacle around the vehicle and grasps the distance, and outputs a warning sound to the outside, thereby suppressing an unnecessary contact accident between the vehicle and the obstacle even when the vehicle is parked neutral And the person moving the vehicle (external force) does not check the distance from the obstacle around the vehicle, thereby greatly improving the convenience.

In addition, the vehicle parking assist apparatus according to the embodiment of the present invention adds a neutral parking condition to an existing PAS system, so that a parking assist (PAS) is possible even in a state where the driver is not in the car and is parked in neutral.

4 is a flowchart illustrating an operation of the parking assisting device for a vehicle according to the embodiment of the present invention.

In step S410, the vehicle parking assisting device 100 confirms whether the vehicle is in the neutral parking state.

Here, the neutral parking condition is a state in which the gear of the vehicle is neutral (N), and the key of the vehicle is released from the key switch box (Key OFF). When it is confirmed that the vehicle is in the neutral parking state, the vehicle parking assist device 100 is in the normal mode. A warning sound of the PAS is output to the inside of the vehicle, and the sensor for the PAS can be operated by the conventional PAS control.

On the other hand, in order to confirm whether the vehicle is in the neutral parking state, the vehicle parking assisting device 100 confirms whether the gear lever of the vehicle is in the neutral (N) stage. At this time, the vehicle parking assisting device 100 confirms the gear position of the vehicle by using the switching ON signal received from the switch of the gear position to be switched as the gear lever is located at the gear position. Or the vehicle parking assist device 100 receives the gear information from the cluster of the vehicle and confirms the gear position of the vehicle.

In order to confirm whether the vehicle is in the neutral parking state, the vehicle parking assisting device 100 confirms whether the vehicle key (ignition key) is released (Key OFF) from the key switch box of the vehicle. At this time, the vehicle parking assisting device 100 confirms the state of the wire harness connecting the key switch box and the starter motor of the vehicle to check whether the vehicle key is released. If the vehicle's key is released to the key switch box by neutral parking of the vehicle, the power of the vehicle is switched to the constant power source B +.

If it is determined in step S410 that the vehicle is in the neutral parking state (vehicle power = Key OFF & gear step = N step), in step S420, the vehicle parking assisting device 100 enters Low Power mode (sleep mode).

Here, when the vehicle enters the low power mode (sleep mode), the vehicle parking assist device 100 changes the control mode of the PAS sensor from the normal mode to the neutral parking mode, and changes the warning output device from the internal mode to the external mode .

When the mode of the PAS enters the low power mode (sleep mode) in step S420, the vehicle parking assisting device 100 determines the movement of the vehicle (the change in the tire wheel position of the vehicle) in step S430.

The vehicle parking assisting device 100 wakes up at regular intervals in a low power mode of the vehicle and receives a pulse signal from the TPMS sensor to determine the movement of the vehicle. For example, the vehicle parking assisting device 100 monitors the TPMS sensor every predetermined period (e.g., 200 ms) to determine whether the vehicle is moving.

If the movement of the vehicle is confirmed in step S430, the vehicle auxiliary assisting device 100 enters the normal power mode (neutral parking assisting mode) in step S440.

Here, the normal power mode (neutral parking assist mode) determines whether or not an obstacle is present around the neutral parked vehicle and confirms the distance to the obstacle. If the obstacle is expected to be in contact with the vehicle, It is a mode that warns the user that the vehicle is no longer moved.

In step S450, the vehicle parking assist device 100 detects an obstacle around the vehicle and determines whether or not there is an obstacle around the vehicle.

At this time, the vehicle parking assisting device 100 activates by applying power to the PAS sensor. For example, the vehicle parking assist device 100 operates each of eight sensors (ultrasonic sensors) for PAS according to the operation scheduling of the predetermined PAS sensor, and receives detection information therefrom. At this time, it is the same as the operation scheduling of the conventional PAS sensor.

If it is determined in step S450 that the surrounding obstacle exists, the vehicle parking assist device 100 adjusts and outputs the warning signal in stages according to the distance between the vehicle (sensor for PAS) and the surrounding obstacle in step S460.

For example, the vehicle parking assist device 100 outputs a warning signal in three stages of warning according to the distance of the obstacle. At this time, the shorter the distance between the vehicle and the obstacle, the higher the volume of the warning signal or the shorter the period of time in which the warning signal is generated. For example, when the distance between the vehicle and the obstacle is between 81 cm and 120 cm, a primary warning, a secondary warning when the distance is between 41 cm and 80 cm, and a tertiary warning when the distance is less than 40 cm are generated.

On the other hand, if it is determined in step S460 that no surrounding obstacle is present, the vehicle parking assistant 100 determines whether the release condition of the surrounding obstacle detection mode is satisfied in step S470.

Here, the peripheral obstacle detection mode cancellation condition is a condition that the warning level between the vehicle and the obstacle is constant (equal) when the warning level according to the distance between the vehicle and the obstacle is the 0th level (120 cm or more) warning level, In this case, the movement of the vehicle is stopped. When at least one of the above cases is satisfied, the vehicle parking assisting device 100 cancels the surrounding obstacle detection mode and switches to the low power mode. At this time, the vehicle parking assisting device 100 stops the LIN communication schedule with the PAS sensor.

Preferably, the vehicular parking assisting device 100 is configured such that the warning step according to the distance between the vehicle and the obstacle is the 0th warning step, there is no change in the distance between the vehicle and the obstacle, The power source of the vehicle is switched to the low power mode, and the wake-up operation is performed every predetermined period of time to check whether or not the vehicle is moved through the confirmation unit 120 (S430).

As described above, in the parking assisting device for a vehicle according to the embodiment of the present invention, when the vehicle is in the neutral parking state (the gear of the vehicle is in the neutral (N) stage and the vehicle key is released from the key switch box) In the case where the vehicle is moved by an external force (such as a person), an obstacle around the vehicle is detected and the distance is grasped, and a warning sound is output to the outside, whereby unnecessary contact between the vehicle and the obstacle , And the person who moves the vehicle (external force) does not check the distance to the obstacle around the vehicle, thereby greatly improving the convenience.

In addition, the vehicle parking assist apparatus according to the embodiment of the present invention adds a neutral parking condition to an existing PAS system, so that a parking assist (PAS) is possible even in a state where the driver is not in the car and is parked in neutral.

While the present invention has been described in connection with what is presently considered to be practical exemplary embodiments, it is to be understood that the invention is not limited to the disclosed embodiments, but, on the contrary, It is to be understood that the invention may be embodied in other specific forms. It is therefore to be understood that the above-described embodiments are illustrative in all aspects and not restrictive. The scope of the present invention is defined by the appended claims rather than the detailed description, and all changes or modifications derived from the scope of the claims and their equivalents shall be construed as being included within the scope of the present invention.

100: Parking assistant for vehicle
110: sensing unit 120:
130: control unit 140: output unit

Claims (10)

A sensing unit for sensing an obstacle around the vehicle;
A confirmation unit for confirming a gear position of the vehicle;
If it is determined that the vehicle is moving in a state where the gear of the vehicle is in a neutral (N) state, if there is a peripheral obstacle within a predetermined distance of the vehicle through the sensing signal input from the sensing unit A control unit for determining whether or not the vehicle is running;
And a parking assist device.
The apparatus according to claim 1,
Confirming whether or not the key of the vehicle is released from the switch box of the vehicle, and confirming whether the gear of the vehicle is neutral (N) in a state in which the key of the vehicle is released
Of the vehicle.
The apparatus of claim 1,
Determining whether the vehicle is moving using acceleration information of a TPMS (Tire Pressure Monitoring System) sensor of the vehicle
Of the vehicle.

The apparatus of claim 1,
Checking whether the vehicle is moving each time the power source of the vehicle wakes up at regular intervals in a low voltage mode
In-vehicle parking assist device.
The method according to claim 1,
The sensing unit is a sensor for a parking assist system (PAS) of the vehicle,
Wherein,
When the movement of the vehicle is confirmed, power is applied to the PAS sensor to operate the PAS sensor
In-vehicle parking assist device.
Confirming that the vehicle is in a neutral parking state in which the gear of the vehicle is in a neutral (N) state with the vehicle key off;
Determining whether the vehicle is moving if the vehicle is in a neutral parking state; And
When the movement of the vehicle is confirmed, switching from the sleep mode to the neutral parking assist mode to detect the surrounding obstacle of the vehicle
And a parking assist device for parking the vehicle.
7. The method of claim 6,
Determining whether the vehicle is moving using acceleration information of a TPMS (Tire Pressure Monitoring System) sensor of the vehicle
Parking assistant.
The method according to claim 6,
Entering a low power mode if the vehicle is in a neutral parking state;
Further comprising:
Wherein the determining step comprises:
The wake-up of the vehicle in a predetermined period in the Low Power Mode,
Parking assistant.
7. The method of claim 6,
And when the mode is switched to the neutral parking assist mode, power is applied to the PAS sensor of the vehicle to operate the sensor, and an obstacle around the vehicle is detected using the sensing signal received from the PAS sensor
Parking assistant.
10. The method of claim 9,
Outputting a warning signal to the outside of the vehicle when the surrounding obstacle is detected within a predetermined distance of the vehicle; And
When the distance between the vehicle and the obstacle is greater than or equal to the predetermined distance and when at least one of the case where the distance between the vehicle and the obstacle does not change and the case where the movement of the vehicle is stopped is satisfied, step;
Further comprising the steps of:

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