KR20170043362A - Parking assist apparatus and method - Google Patents

Abstract

The present invention relates to a parking assist apparatus and a method, wherein the parking assist apparatus comprises: a human interface provided for a parking mode to be selected; a parking controller grasping a parking pattern of a driver when parking a vehicle and reflecting the parking mode and the parking pattern to generate a parking trajectory; and a steering controller controlling the steering angle of the vehicle to follow the parking trajectory.

Description

[0001] PARKING ASSIST APPARATUS AND METHOD [0002]

The present invention relates to a parking assisting device and method for performing parking assist by selecting a parking locus in accordance with a driver's intention or tendency (parking pattern) at the time of parking.

Generally, a Smart Parking Assist System (SPAS) generates a parking trajectory (a clojode trajectory) using a relaxation curve (clothoid curve), or a combination of a straight line and a curved line Thereby generating a parking locus (hereinafter referred to as a locus locus). The chloroid trajectory and the circular trajectory have opposite characteristics. The clojode trajectory has less impact on the vehicle than the original trajectory, so that the generated trajectory is highly responsive and accurate parking is possible. However, the clojode trajectory takes longer to travel because of the longer travel distance. On the other hand, the circular trajectory can be parked quickly because the moving distance is short, but the tracking accuracy of the generated trajectory is low due to the influence of the vehicle speed.

The conventional parking assistance system carries out parking support using only one trajectory designed in advance, and thus has advantages and disadvantages of the corresponding trajectory. In other words, when the parking support system uses the circular trajectory generated by the straight line and the circular curve, the time required for parking due to the short travel distance is short, but the trajectory followability is poor, and the actual final parking position and the parking position according to the designed trajectory .

In addition, when the parking system uses the clojode trajectory generated by the clojode curve, it takes a long time to park because the trajectory is excellent and the parking accuracy is high but it requires a long travel distance to the target position.

 Vassilis Gikas and John Stratakos, "A Novel Geodetic Engineering Method for Accurate and Automated Road / Railway Centerline Geometry Extraction Based on the Bearing Diagram and Fractal Behavior", IEEE TRANSACTIONS ON INTELLIGENT TRANSPORTATION SYSTEMS, VOL. 13, NO. 1, pp. 115-126, MARCH 2012.

Disclosure of Invention Technical Problem [8] Accordingly, the present invention has been made to solve the above-mentioned problems occurring in the prior art, and it is an object of the present invention to provide a parking assisting apparatus and method for performing parking assistance by selecting a parking locus in accordance with a driver's intention or tendency (parking pattern).

According to an aspect of the present invention, there is provided a parking assist system including a human interface for selecting a parking mode, a parking pattern recognition unit for recognizing a parking pattern of a driver at the time of parking, And a steering controller for controlling the steering angle of the vehicle to follow the parking trajectory.

The present invention further includes a distance sensor for measuring the distance between the vehicle and the surrounding vehicle.

The parking controller calculates, records, and manages the degree of parking alignment of the vehicle based on the distance data measured by the distance sensor.

The parking controller calculates a ratio of the number of satisfactory parking arrangements to the number of parking arrangements and determines that the parking pattern is high if the reference pattern is equal to or greater than a reference value and determines that the parking pattern is low if the ratio is less than the reference .

 Wherein the parking controller generates the parking locus using the closest curve if the parking mode is not fast parking and the parking pattern is high in the parking arrangement.

Wherein the parking controller generates the parking locus by a combination of a straight line and a circular curve when the parking mode is not fast parking and the parking pattern is also low in the parking alignment.

And the parking controller generates the parking locus by a combination of a straight line and a circular curve if the parking mode is a fast parking.

Meanwhile, a parking assisting method according to an embodiment of the present invention includes a step of confirming whether or not a fast parking is selected by a driver when parking assistance is executed, a step of confirming a parking pattern of a driver when the fast parking is unselected, And generating parking trajectories in accordance with the pattern to perform parking assistance.

Further, in the step of checking the driver's parking pattern, if the parking pattern is high in the parking arrangement, the parking locus is generated using the closest curve.

Further, in the step of checking the parking pattern of the driver, if the parking pattern is also low in the parking alignment, the parking locus is generated by a combination of a straight line and a circular curve.

In the step of confirming whether or not the quick parking is selected, when the fast parking is selected, the parking locus is generated by a combination of a straight line and a curved line.

The present invention can perform parking assistance by selecting a parking trajectory according to the driver's will or disposition at the time of parking. Therefore, the present invention can select an optimum parking trajectory in consideration of the surrounding environment and the parking pattern information of the driver at the time of parking, thereby increasing the usability and convenience of the parking function.

In addition, according to the present invention, a driver can directly select a quick parking in a situation in which fast parking is required (time margin of the driver and the circumference of the road), and a parking support function reflecting the driver tendency is provided in a normal situation. Enabling the use and utilization of supporting devices.

1 is a block diagram of a parking assisting device according to an embodiment of the present invention;
2 is a flowchart illustrating a parking assisting method according to an embodiment of the present invention;
3 is a view showing a parking mode selection screen of a driver according to the present invention.
4 is an example of generating a parking locus according to the present invention.
5 is another example of generating a parking trajectory according to the present invention.

The terms "comprises", "comprising", "having", and the like are used herein to mean that a component can be implanted unless otherwise specifically stated, Quot; element ".

Also, the terms " part, "" module, " and" module ", as used herein, refer to a unit that processes at least one function or operation and may be implemented as hardware or software or a combination of hardware and software . It is also to be understood that the articles "a", "an", "an" and "the" Can be used.

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

1 is a block diagram of a parking assisting apparatus according to an embodiment of the present invention.

1, the parking assisting device according to the present invention includes a distance sensor 110, a human machine interface (HMI) 120, a steering controller 130, and a parking controller 140. As shown in FIG.

The distance sensor 110 measures a distance from an object (e.g., a vehicle and an obstacle) located in the vicinity of the vehicle. At least one of the distance sensors 110 is installed on the front, rear, and sides of the vehicle. For example, the distance sensor 110 measures the distance between the vehicle and the surrounding vehicle.

The data measured by the distance sensor 110 may be used to recognize the parking space and / or the surrounding environment of the vehicle.

The human interface 120 includes an input means for generating input data according to an operation of a user (e.g., a driver), and an output means for outputting a progress status and a result of the operation of the parking assist apparatus in a form recognizable by the user do.

The input means is implemented by any one or more of a means such as a switch, a button and a keypad. The output means includes at least one of a speaker for outputting an audio signal, a haptic module for outputting a tactile signal, and a display for outputting time information. The display may be a cluster, a liquid crystal display, a thin film transistor liquid crystal display, an organic light emitting diode, a flexible display, a 3D display, And a Head Up Display (HUD).

The human interface 120 generates a control command instructing execution or release of the parking assist according to the user's operation. For example, when the driver turns on the parking switch, the human interface 120 transmits a control command to the control unit 140 instructing activation of the parking assist function.

The human interface 120 informs the parking controller 140 of the parking mode selected by the driver. The parking mode indicates whether quick parking is performed.

The steering controller 170 is an actuator for controlling the steering of the vehicle and is implemented by Motor Drive Power Steering (MDPS). The steering controller 130 controls the steering angle of the vehicle so as to follow the parking locus for parking the vehicle in the parking space.

The parking controller 140 is connected to the distance sensor 110 through a LIN (Local Interconnect Network) and to the human interface 120 and the steering controller 130 via a C-CAN (Controller Area Network) bus.

When parking the vehicle in the parking space, the parking controller 140 confirms the parking alignment (parking alignment) using data measured through the distance sensor 110 when the parking is completed.

For example, the parking controller 140 receives distance values from both vehicles through the distance sensor 110 installed on the rear side of the vehicle, and calculates an average value (average distance value) of the received distance values. Then, the parking controller 140 extracts the inclination of both vehicles based on the inputted distance value. The parking controller 140 includes in the average value calculation and slope extraction only when the inputted distance value is within a certain range from the average value.

The parking controller 140 records and manages the number of times the parking is performed, the degree of parking alignment at the time of completion of parking, and the satisfaction of the parking alignment in storage means (not shown). The parking controller 140 determines (judges) the driver's parking pattern based on the parking alignment chart recorded in the storage means. That is, the parking controller 140 learns the usual parking pattern of the driver.

The parking controller 140 calculates the ratio of the number of parking alignment satisfaction to the number of parking performance times to determine the parking pattern (parking orientation) of the driver. The parking controller 140 determines that the parking orientation of the driver is high if the ratio of the parking arrangement satisfaction to the number of parking operations is equal to or greater than the reference. On the other hand, the parking controller 140 determines that the parking orientation of the driver is low if the ratio of the number of parking arrangements satisfies the ratio of the number of parking arrangements to the number of parking operations performed by the driver.

The parking controller 140 generates a parking space entry locus (hereinafter, a parking locus locus) according to the parking mode selected by the driver and the parking pattern of the driver.

The parking controller 140 generates a parking locus (circle locus) using a straight line and a circle arc when the driver selects rapid parking in the parking mode.

If the driver does not select fast parking, the parking controller 140 checks the parking pattern of the driver and, if the parking pattern is 'high in parking alignment', uses the clothoid curve (Euler spirals) Id trajectory).

On the other hand, when the driver does not select quick parking in the parking mode and the driver's parking pattern is 'low in parking alignment', the parking controller 140 generates a parking locus using a straight line and a circular curve with short travel distances .

The parking controller 140 transmits the required steering angle corresponding to the generated parking locus to the steering controller 170. At this time, the parking controller 140 monitors the change of the steering angle of the vehicle through the steering angle sensor (not shown) in real time, and controls the steering controller 170 to control the steering angle of the vehicle.

When the vehicle enters the predetermined parking end determination position, the parking controller 140 determines the parking satisfaction by checking the parking alignment state based on the measured data through the distance sensor 110. [ Here, the parking end judgment position may be the center point position of the vehicle when the vehicle in the parking space is parked.

For example, the parking controller 140 measures the distance from the object (the parked vehicle) around the vehicle through the distance sensor 110 at a predetermined cycle until the vehicle enters the parking end judgment position, . Then, when the vehicle enters the parking end judgment position, the parking controller 140 calculates the distance and slope from the object (the parked vehicle) using the calculated average distance value up to that point. Then, the parking controller 140 satisfies the parking alignment degree when the separation distance and the inclination are within the reference separation distance and the reference inclination.

FIG. 2 is a flowchart illustrating a parking assisting method according to an embodiment of the present invention, and FIG. 3 is an example of a parking mode selection screen of a driver according to the present invention.

When the parking controller 140 receives the parking assist execution command through the human interface 120, the parking assist function is activated (S101).

The parking controller 140 confirms whether the driver selects the fast parking through the human interface 120 (S103). When the parking assist function is executed, the parking controller 140 outputs a parking mode selection screen on the display screen through the human interface 120 so that the driver can select the parking mode as shown in FIG. The parking controller 140 receives the selection information selected by the driver from the human interface 120 when the user selects the parking mode on the parking mode selection screen. For example, the human interface 120 informs the parking controller 140 of a rapid parking selection if the driver selects fast parking, and notifies the parking controller 140 of the rapid parking selection if the driver does not select fast parking.

The parking controller 140 confirms the parking pattern of the driver when fast parking is not selected in the parking mode (S105). In other words, the parking controller 140 confirms whether the driver prefers parking with high degree of parking alignment or parking with low degree of parking alignment. At this time, the parking controller 140 confirms the parking pattern of the learned driver.

The parking controller 140 determines whether the parking pattern of the driver is high as a result of checking the parking pattern of the driver (S107).

When the parking controller 140 prefers parking having a high degree of parking alignment of the driver, parking is performed by generating a parking locus (clause locus) using the closest curve (S109).

On the other hand, the parking controller 140 generates a parking locus (circle locus) by a combination of a straight line and a circular curve when fast parking is selected in the parking mode in S103 or when the parking pattern of the driver is confirmed to be low in S107 (S111).

Fig. 4 shows an example of generating a parking locus according to the present invention.

4, the parking controller 140 searches the parking space R located between the other cars Vo parked through the distance sensor 110. As shown in Fig. The parking controller 140 directs the parking mode selection through the human interface 120 to park the vehicle Vs at right angles to the searched parking space R. [ Thereafter, the parking controller 140 recognizes the parking mode selection of the driver via the human interface 120. Fig. When the driver selects rapid parking, the parking controller 140 sets the contact point at which the center line Lref of the parking space R and the center line Lvc of the vehicle contact the circular curve Lc as the curvature change point Pc Thereby generating a parking locus. Here, the center line Lref of the parking space R is a straight line tangent to the parking target position (parking end judgment position).

The parking controller 140 must perform the steering control after stopping the vehicle at the curvature change point Pc in order to accurately follow the parking locus generated by the combination of the straight line and the curved line.

However, when the driver does not select the quick parking mode in the parking mode, the parking controller 140 checks the parking pattern of the driver so that the parking pattern is parked If the alignment is also low, a parking trajectory is created by a combination of a straight line and a curved line, as in the case where the driver selects fast parking.

Fig. 5 shows another example of generating the parking locus according to the present invention.

When parking the vehicle Vs at right angles to the parking space R located between the parked other vehicles Vo, the parking controller 140 confirms the parking mode selected by the driver, and if the fast parking is unselected, And judges whether or not the driver prefers parking with a high degree of parking alignment.

When the driver prefers parking with a high degree of parking alignment, the parking controller 140 uses the closoid curve in contact with the center line Lref of the parking space R as shown in FIG. 5 to calculate the parking locus Lpath ). That is, the parking controller 140 generates a clause curve in contact with the parking target position.

While the present invention has been described in connection with what is presently considered to be the most practical and preferred embodiments, it is to be understood that the invention is not limited to the disclosed embodiments. That is, within the scope of the present invention, all of the components may be selectively coupled to one or more of them. In addition, although all of the components may be implemented as one independent hardware, some or all of the components may be selectively combined to perform a part or all of the functions in one or a plurality of hardware. As shown in FIG. The codes and code segments constituting the computer program may be easily deduced by those skilled in the art. Such a computer program can be stored in a computer-readable storage medium, readable and executed by a computer, thereby realizing an embodiment of the present invention.

110: Distance sensor
120: HMI
130: Steering controller
140: Parking controller

Claims (11)

A human interface for selecting a parking mode,
A parking controller for determining a parking pattern of a driver at the time of parking and generating a parking locus by reflecting the parking mode and the parking pattern;
And a steering controller for controlling a steering angle of the vehicle to follow the parking trajectory.
The method according to claim 1,
And a distance sensor for measuring a distance between the vehicle and a nearby vehicle.
3. The method of claim 2,
Wherein the parking controller comprises:
And calculates and records the parking alignment degree of the vehicle based on the distance data measured by the distance sensor.
The method according to claim 1,
Wherein the parking controller comprises:
Wherein the parking pattern is determined to be high if the ratio of the number of parking arrangements satisfies a predetermined number of times to the number of parking arrangements satisfies the criterion. If the ratio is less than the criterion, Supported devices.
5. The method of claim 4,
Wherein the parking controller comprises:
Wherein the controller generates the parking trajectory using the closest curve if the parking mode is not fast parking and the parking pattern is high in the parking alignment.
5. The method of claim 4,
Wherein the parking controller comprises:
Wherein the parking locus is generated by a combination of a straight line and a circular curve when the parking mode is not fast parking and the parking pattern is also low in the parking alignment.
The method according to claim 1,
Wherein the parking controller comprises:
Wherein if the parking mode is a fast parking, the parking locus is generated by a combination of a straight line and a curved line.
Confirming whether or not the driver selects a quick parking at the time of execution of parking support,
Confirming the parking pattern of the driver when the quick parking is unselected, and
And generating a parking locus according to the parking pattern to perform parking assistance.
9. The method of claim 8,
In the step of checking the driver's parking pattern,
Wherein the parking trajectory is generated using a closest curve if the parking pattern is high in the parking alignment.
9. The method of claim 8,
In the step of checking the driver's parking pattern,
Wherein said parking locus is generated by a combination of a straight line and a circular curve when said parking pattern is low in parking alignment.
9. The method of claim 8,
In the step of confirming whether the quick parking is selected,
And when the quick parking is selected, the parking locus is generated by a combination of a straight line and a curved line.

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