KR20180106723A - Parking system for vehicle - Google Patents

Abstract

The present invention relates to a parking system for a vehicle, which comprises: a user interface receiving user input for parking a vehicle in a parking lot; an object detecting apparatus generating information on the parking lot; and a processor determining that the parking lot is a mechanical parking lot based on the information on the parking lot, setting a parking standby zone in the front of the mechanical parking lot, providing a first control signal to enable the vehicle is temporally parked in the parking standby zone, and providing a second control signal to enable the vehicle to be driven forward or backward from parking standby zone to the mechanical parking lot.

Description

A parking system for vehicle

The present invention relates to a vehicle parking system.

A vehicle is a device that moves a user in a desired direction by a boarding user. Typically, automobiles are examples.

Recently, research and development of a parking system for a vehicle has been actively carried out. R & D has been conducted on a parking system in which a vehicle autonomously carries out parking beyond a parking system that assists the driver in parking.

However, the vehicle parking system according to the related art relates to parking performed in a general parking lot, and in a special situation for parking the mechanical parking space, there is a difficulty in parking.

SUMMARY OF THE INVENTION An object of the present invention is to provide a parking system for a vehicle which enables parking even in a mechanical parking space.

It is also an object of the present invention to provide a vehicle including the parking system.

The problems of the present invention are not limited to the above-mentioned problems, and other problems not mentioned can be clearly understood by those skilled in the art from the following description.

According to an aspect of the present invention, there is provided a vehicle parking system including: a user interface device for receiving a user input for performing parking of a vehicle in a parking space; An object detecting device for generating information on a parking space; Determining a parking space as a mechanical parking space, setting a parking waiting area in front of the mechanical parking space, and providing a first control signal for parking the vehicle in the parking waiting area based on information on the parking space And a processor for providing a second control signal to cause the vehicle to travel forward or backward from the parking waiting area to the mechanical parking space.

The details of other embodiments are included in the detailed description and drawings.

According to an embodiment of the present invention, there is one or more of the following effects.

First, it is possible to park the vehicle without colliding with surrounding objects in a mechanical parking space.

Second, there is an effect of preventing the phenomenon of being parked in a biased state in a mechanical parking space.

Third, it is possible to park in a narrow parking space that is narrower than a general parking space.

Fourth, by constantly compensating the error during parking, it is possible to park the vehicle in a state where the heading angle of the vehicle does not deviate greatly from the mechanical parking space.

The effects of the present invention are not limited to the effects mentioned above, and other effects not mentioned can be clearly understood by those skilled in the art from the description of the claims.

1 is a view showing an appearance of a vehicle according to an embodiment of the present invention.
2 is a view of a vehicle according to an embodiment of the present invention viewed from various angles.
3 to 4 are views showing an interior of a vehicle according to an embodiment of the present invention.
5 to 6 are drawings referred to explain an object according to an embodiment of the present invention.
FIG. 7 is a block diagram for explaining a vehicle according to an embodiment of the present invention. FIG.
8 is a block diagram for explaining a parking system for a vehicle according to an embodiment of the present invention.
9 is a flowchart referred to explain the operation of the parking system for a vehicle according to the embodiment of the present invention.
10 is a flowchart referred to explain the operation of the parking system for a vehicle according to the embodiment of the present invention.
11 to 12 are drawings referred to explain a mechanical parking space according to an embodiment of the present invention.
FIG. 13 is a diagram referred to explain a problem in performing parking by a parking system according to the prior art in a mechanical parking space.
FIGS. 14 to 15 are views referred to explain parking by the parking system according to the embodiment of the present invention. FIG.
16 is a diagram referred to explain an operation of compensating an error according to an embodiment of the present invention.
17 is a diagram referred to explain the operation of acquiring the size information of the wheel according to the embodiment of the present invention.
18 is a diagram referred to explain an operation of outputting an image according to an embodiment of the present invention.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings, wherein like reference numerals are used to designate identical or similar elements, and redundant description thereof will be omitted. The suffix "module" and " part "for the components used in the following description are given or mixed in consideration of ease of specification, and do not have their own meaning or role. In the following description of the embodiments of the present invention, a detailed description of related arts will be omitted when it is determined that the gist of the embodiments disclosed herein may be blurred. It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory and are intended to provide further explanation of the invention as claimed. , ≪ / RTI > equivalents, and alternatives.

Terms including ordinals, such as first, second, etc., may be used to describe various elements, but the elements are not limited to these terms. The terms are used only for the purpose of distinguishing one component from another.

It is to be understood that when an element is referred to as being "connected" or "connected" to another element, it may be directly connected or connected to the other element, . On the other hand, when an element is referred to as being "directly connected" or "directly connected" to another element, it should be understood that there are no other elements in between.

The singular expressions include plural expressions unless the context clearly dictates otherwise.

In the present application, the terms "comprises", "having", and the like are used to specify that a feature, a number, a step, an operation, an element, a component, But do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, or combinations thereof.

The vehicle described herein may be a concept including a car, a motorcycle. Hereinafter, the vehicle will be described mainly with respect to the vehicle.

The vehicle described in the present specification may be a concept including both an internal combustion engine vehicle having an engine as a power source, a hybrid vehicle having an engine and an electric motor as a power source, and an electric vehicle having an electric motor as a power source.

In the following description, the left side of the vehicle means the left side in the running direction of the vehicle, and the right side of the vehicle means the right side in the running direction of the vehicle.

1 is a view showing an appearance of a vehicle according to an embodiment of the present invention.

2 is a view of a vehicle according to an embodiment of the present invention viewed from various angles.

3 to 4 are views showing an interior of a vehicle according to an embodiment of the present invention.

5 to 6 are drawings referred to explain an object according to an embodiment of the present invention.

FIG. 7 is a block diagram for explaining a vehicle according to an embodiment of the present invention. FIG.

Referring to FIGS. 1 to 7, the vehicle 100 may include a wheel rotated by a power source, and a steering input device 510 for adjusting the traveling direction of the vehicle 100.

The vehicle 100 may be an autonomous vehicle.

The vehicle 100 can be switched to the autonomous running mode or the manual mode based on the user input.

For example, the vehicle 100 can be switched from the manual mode to the autonomous mode, or switched from the autonomous mode to the manual mode, based on the received user input, via the user interface device 200. [

The vehicle 100 can be switched to the autonomous running mode or the manual mode based on the running situation information.

The running situation information may include at least one of object information outside the vehicle, navigation information, and vehicle condition information.

For example, the vehicle 100 can be switched from the manual mode to the autonomous mode or switched from the autonomous mode to the manual mode based on the running condition information generated by the object detection device 300. [

For example, the vehicle 100 can be switched from the manual mode to the autonomous mode or switched from the autonomous mode to the manual mode based on the running condition information received via the communication device 400. [

The vehicle 100 can be switched from the manual mode to the autonomous mode based on information, data and signals provided from the external device, or can be switched from the autonomous mode to the manual mode.

When the vehicle 100 is operated in the self-running mode, the autonomous vehicle 100 can be operated on the basis of the running system 700. [

For example, the autonomous vehicle 100 may be operated based on information, data or signals generated in the traveling system 710, the outgoing system 740, and the parking system 750. [

When the vehicle 100 is operated in the manual mode, the autonomous vehicle 100 can receive a user input for driving through the driving operation device 500. [ Based on the user input received through the driving operation device 500, the vehicle 100 can be operated.

The overall length means the length from the front portion to the rear portion of the vehicle 100 and the width is the width of the vehicle 100 and the height means the length from the bottom of the wheel to the roof. In the following description, it is assumed that the total length direction L is a direction in which the full length direction of the vehicle 100 is measured, the full width direction W is a reference for the full width measurement of the vehicle 100, Which is a reference for the measurement of the height of the object 100.

7, the vehicle 100 includes a user interface device 200, an object detection device 300, a communication device 400, a driving operation device 500, a vehicle driving device 600, A navigation system 770, a sensing unit 120, an interface unit 130, a memory 140, a control unit 170, and a power supply unit 190.

According to the embodiment, the vehicle 100 may further include other components than the components described herein, or may not include some of the components described.

The user interface device 200 is a device for communicating between the vehicle 100 and a user. The user interface device 200 may receive user input and provide information generated by the vehicle 100 to the user. The vehicle 100 can implement UI (User Interfaces) or UX (User Experience) through the user interface device 200. [

The user interface device 200 may include an input unit 210, an internal camera 220, a biological sensing unit 230, an output unit 250, and a processor 270.

According to the embodiment, the user interface device 200 may further include other components than the components described, or may not include some of the components described.

The input unit 210 is for receiving information from a user. The data collected by the input unit 210 may be analyzed by the processor 270 and processed by a user's control command.

The input unit 210 may be disposed inside the vehicle. For example, the input unit 210 may include one area of a steering wheel, one area of an instrument panel, one area of a seat, one area of each pillar, one area of the head console, one area of the door, one area of the center console, one area of the head lining, one area of the sun visor, one area of the windshield, One area or the like.

The input unit 210 may include a voice input unit 211, a gesture input unit 212, a touch input unit 213, and a mechanical input unit 214.

The voice input unit 211 can switch the voice input of the user into an electrical signal. The converted electrical signal may be provided to the processor 270 or the control unit 170.

The voice input unit 211 may include one or more microphones.

The gesture input unit 212 can switch the user's gesture input to an electrical signal. The converted electrical signal may be provided to the processor 270 or the control unit 170.

The gesture input unit 212 may include at least one of an infrared sensor and an image sensor for detecting a user's gesture input.

According to an embodiment, the gesture input 212 may sense a user's three-dimensional gesture input. To this end, the gesture input unit 212 may include an optical output unit for outputting a plurality of infrared rays or a plurality of image sensors.

The gesture input unit 212 can sense a user's three-dimensional gesture input through a time of flight (TOF) method, a structured light method, or a disparity method.

The touch input unit 213 can switch the touch input of the user into an electrical signal. The converted electrical signal may be provided to the processor 270 or the controller 170.

The touch input unit 213 may include a touch sensor for sensing a touch input of a user.

According to the embodiment, the touch input unit 213 is integrated with the display unit 251, thereby realizing a touch screen. Such a touch screen may provide an input interface and an output interface between the vehicle 100 and a user.

The mechanical input unit 214 may include at least one of a button, a dome switch, a jog wheel, and a jog switch. The electrical signal generated by the mechanical input 214 may be provided to the processor 270 or the controller 170.

The mechanical input unit 214 may be disposed on a steering wheel, a centepascia, a center console, a cockpit module, a door, or the like.

The internal camera 220 can acquire the in-vehicle image. The processor 270 can sense the state of the user based on the in-vehicle image. The processor 270 can obtain the user's gaze information from the in-vehicle image. The processor 270 may sense the user's gesture in the in-vehicle video.

The biometric sensor 230 can acquire biometric information of the user. The biometric sensor 230 includes a sensor capable of acquiring biometric information of a user, and can acquire fingerprint information, heartbeat information, etc. of a user using a sensor. Biometric information can be used for user authentication.

The output unit 250 is for generating an output related to a visual, auditory or tactile sense or the like.

The output unit 250 may include at least one of a display unit 251, an acoustic output unit 252, and a haptic output unit 253.

The display unit 251 may display graphic objects corresponding to various information.

The display unit 251 may be a liquid crystal display (LCD), a thin film transistor-liquid crystal display (TFT LCD), an organic light-emitting diode (OLED) display, a 3D display, and an e-ink display.

The display unit 251 may have a mutual layer structure with the touch input unit 213 or may be integrally formed to realize a touch screen.

The display unit 251 may be implemented as a Head Up Display (HUD). When the display unit 251 is implemented as an HUD, the display unit 251 may include a projection module to output information through an image projected on a windshield or a window.

The display unit 251 may include a transparent display. The transparent display may be attached to the windshield or window.

The transparent display can display a predetermined screen while having a predetermined transparency. Transparent displays can be made of transparent TFEL (Thin Film Elecroluminescent), transparent OLED (Organic Light-Emitting Diode), transparent LCD (Liquid Crystal Display), transmissive transparent display, transparent LED (Light Emitting Diode) Or the like. The transparency of the transparent display can be adjusted.

Meanwhile, the user interface device 200 may include a plurality of display units 251a to 251g.

The display unit 251 includes one region of the steering wheel, one region 251a, 251b and 251e of the inspiration panel, one region 251d of the sheet, one region 251f of each filler, 251g), one area of the center console, one area of the head lining, one area of the sun visor, one area 251c of the windshield, and one area 251h of the window.

The audio output unit 252 converts an electric signal provided from the processor 270 or the control unit 170 into an audio signal and outputs the audio signal. To this end, the sound output section 252 may include one or more speakers.

The haptic output unit 253 generates a tactile output. For example, the haptic output section 253 may operate to vibrate the steering wheel, the seat belt, the seat 110FL, 110FR, 110RL, and 110RR so that the user can recognize the output.

The processor 270 may control the overall operation of each unit of the user interface device 200.

In accordance with an embodiment, the user interface device 200 may include a plurality of processors 270, or may not include a processor 270. [

If the user interface device 200 does not include the processor 270, the user interface device 200 may be operated under the control of the processor or the control unit 170 of another apparatus in the vehicle 100. [

On the other hand, the user interface device 200 may be referred to as a vehicle display device.

The user interface device 200 may be operated under the control of the control unit 170.

The object detecting apparatus 300 is an apparatus for detecting an object located outside the vehicle 100. [ The object detecting apparatus 300 can generate object information based on the sensing data.

The object information may include information on the presence or absence of the object, position information of the object, distance information between the vehicle 100 and the object, and relative speed information between the vehicle 100 and the object.

The object may be various objects related to the operation of the vehicle 100.

5 to 6, an object O is a vehicle that is a vehicle that has a lane OB10, another vehicle OB11, a pedestrian OB12, a two-wheeled vehicle OB13, traffic signals OB14 and OB15, Speed bumps, terrain, animals, and the like.

The lane OB10 may be a driving lane, a side lane of the driving lane, or a lane on which the opposed vehicle runs. The lane OB10 may be a concept including left and right lines Line forming a lane.

The other vehicle OB11 may be a vehicle running in the vicinity of the vehicle 100. [ The other vehicle may be a vehicle located within a predetermined distance from the vehicle 100. For example, the other vehicle OB11 may be a vehicle preceding or following the vehicle 100. [

The pedestrian OB12 may be a person located in the vicinity of the vehicle 100. [ The pedestrian OB12 may be a person located within a predetermined distance from the vehicle 100. [ For example, the pedestrian OB12 may be a person who is located on the delivery or driveway.

The two-wheeled vehicle OB13 may mean a vehicle located around the vehicle 100 and moving using two wheels. The two-wheeled vehicle OB13 may be a rider having two wheels positioned within a predetermined distance from the vehicle 100. [ For example, the two-wheeled vehicle OB13 may be a motorcycle or a bicycle located on a sidewalk or a motorway.

The traffic signal may include a traffic light (OB15), a traffic sign (OB14), a pattern drawn on the road surface, or text.

The light may be light generated from lamps provided in other vehicles. Light can be light generated from a street light. Light can be solar light.

The road may include a slope such as a road surface, a curve, an uphill, a downhill, and the like.

The structure may be an object located around the road and fixed to the ground. For example, the structure may include street lamps, street lamps, buildings, electric poles, traffic lights, and bridges.

The terrain may include mountains, hills, and the like.

On the other hand, an object can be classified into a moving object and a fixed object. For example, the moving object may be a concept including an other vehicle, a pedestrian. For example, the fixed object may be a concept including a traffic signal, a road, and a structure.

The object detection apparatus 300 may include a camera 310, a radar 320, a LR 330, an ultrasonic sensor 340, an infrared sensor 350, and a processor 370.

According to the embodiment, the object detecting apparatus 300 may further include other elements other than the described elements, or may not include some of the described elements.

The camera 310 may be located at an appropriate location outside the vehicle to obtain the vehicle exterior image. The camera 310 may be a mono camera, a stereo camera 310a, an AVM (Around View Monitoring) camera 310b, or a 360 degree camera.

The camera 310 can acquire the position information of the object, the distance information to the object, or the relative speed information with the object using various image processing algorithms.

For example, the camera 310 can acquire distance information and relative velocity information with respect to the object based on a change in the object size with time in the acquired image.

For example, the camera 310 can acquire distance information and relative speed information with respect to the object through a pin hole model, a road surface profiling, and the like.

For example, the camera 310 may acquire distance information and relative speed information with respect to the object based on disparity information in the stereo image acquired by the stereo camera 310a.

For example, the camera 310 may be disposed in the interior of the vehicle, close to the front windshield, to acquire an image of the front of the vehicle. Alternatively, the camera 310 may be disposed around a front bumper or radiator grill.

For example, the camera 310 can be disposed in the interior of the vehicle, close to the rear glass, to acquire images of the rear of the vehicle. Alternatively, the camera 310 may be disposed around a rear bumper, trunk, or tailgate.

For example, the camera 310 may be disposed close to at least one of the side windows in the interior of the vehicle to obtain the image of the side of the vehicle. Alternatively, the camera 310 may be disposed around a side mirror, fender, or door.

The camera 310 may provide the acquired image to the processor 370.

The radar 320 may include an electromagnetic wave transmitting unit and a receiving unit. The radar 320 may be implemented by a pulse radar system or a continuous wave radar system in terms of the radio wave emission principle. The radar 320 may be implemented by a Frequency Modulated Continuous Wave (FMCW) scheme or a Frequency Shift Keying (FSK) scheme according to a signal waveform in a continuous wave radar scheme.

The radar 320 detects an object based on a time-of-flight (TOF) method or a phase-shift method through electromagnetic waves, and detects the position of the detected object, the distance to the detected object, Can be detected.

The radar 320 may be disposed at a suitable location outside the vehicle to sense objects located at the front, rear, or side of the vehicle.

The ladder 330 may include a laser transmitting unit and a receiving unit. The LIDAR 330 may be implemented in a time of flight (TOF) scheme or a phase-shift scheme.

The lidar 330 may be implemented as a drive or an unshifted drive.

When implemented in a driving manner, the LIDAR 330 is rotated by a motor and can detect an object in the vicinity of the vehicle 100. [

In the case of non-driven implementation, the LIDAR 330 can detect an object located within a predetermined range with respect to the vehicle 100 by optical steering. The vehicle 100 may include a plurality of non-driven RRs 330. [

The lidar 330 detects an object based on a laser light medium, a time of flight (TOF) method, or a phase-shift method, and detects the position of the detected object, The relative speed can be detected.

The lidar 330 may be disposed at an appropriate location outside the vehicle to sense objects located at the front, rear, or side of the vehicle.

The ultrasonic sensor 340 may include an ultrasonic transmitter and a receiver. The ultrasonic sensor 340 can detect the object based on the ultrasonic wave, and can detect the position of the detected object, the distance to the detected object, and the relative speed.

The ultrasonic sensor 340 may be disposed at an appropriate position outside the vehicle for sensing an object located at the front, rear, or side of the vehicle.

The infrared sensor 350 may include an infrared ray transmitter and a receiver. The infrared sensor 340 can detect the object based on the infrared light, and can detect the position of the detected object, the distance to the detected object, and the relative speed.

The infrared sensor 350 may be disposed at an appropriate position outside the vehicle for sensing an object located at the front, rear, or side of the vehicle.

The processor 370 can control the overall operation of each unit of the object detecting apparatus 300. [

The processor 370 compares the data sensed by the camera 310, the radar 320, the lidar 330, the ultrasonic sensor 340, and the infrared sensor 350 with the stored data to detect or classify the object can do.

The processor 370 can detect and track the object based on the acquired image. The processor 370 can perform operations such as calculating a distance to an object, calculating a relative speed with respect to the object, and the like through an image processing algorithm.

For example, the processor 370 can obtain distance information and relative speed information with respect to the object, based on a change in the object size with time, in the acquired image.

For example, the processor 370 can acquire distance information and relative speed information with respect to the object through a pin hole model, a road surface profiling, and the like.

For example, the processor 370 may acquire distance information and relative speed information with respect to the object based on disparity information in the stereo image acquired by the stereo camera 310a.

The processor 370 can detect and track the object based on the reflected electromagnetic waves that are reflected from the object by the transmitted electromagnetic waves. The processor 370 can perform operations such as calculating a distance to an object and calculating a relative speed with respect to the object based on electromagnetic waves.

The processor 370 can detect and track the object based on the reflected laser light reflected back from the object by the transmitted laser. Based on the laser light, the processor 370 can perform operations such as calculating the distance to the object and calculating the relative speed with respect to the object.

The processor 370 can detect and track the object on the basis of the reflected ultrasonic waves reflected by the object and transmitted back. The processor 370 can perform operations such as calculating the distance to the object and calculating the relative speed with respect to the object based on the ultrasonic waves.

The processor 370 can detect and track the object based on the reflected infrared light that the transmitted infrared light reflects back to the object. The processor 370 can perform operations such as calculating the distance to the object and calculating the relative speed with respect to the object based on the infrared light.

According to the embodiment, the object detecting apparatus 300 may include a plurality of processors 370 or may not include the processor 370. [ For example, each of the camera 310, the radar 320, the RI 330, the ultrasonic sensor 340, and the infrared sensor 350 may individually include a processor.

The object detecting apparatus 300 can be operated under the control of the processor of the apparatus in the vehicle 100 or the controller 170 when the object detecting apparatus 300 does not include the processor 370. [

The object detecting apparatus 300 can be operated under the control of the control section 170. [

The communication device 400 is a device for performing communication with an external device. Here, the external device may be another vehicle, a mobile terminal, or a server.

The communication device 400 may include at least one of a transmission antenna, a reception antenna, an RF (Radio Frequency) circuit capable of implementing various communication protocols, and an RF device to perform communication.

The communication device 400 includes a local communication unit 410, a location information unit 420, a V2X communication unit 430, an optical communication unit 440, a broadcast transmission / reception unit 450, an ITS (Intelligent Transport Systems) communication unit 460, (470).

According to the embodiment, the communication device 400 may further include other components than the components described, or may not include some of the components described.

The short-range communication unit 410 is a unit for short-range communication. The short-range communication unit 410 may be a wireless communication unit such as Bluetooth ™, Radio Frequency Identification (RFID), Infrared Data Association (IrDA), Ultra Wideband (UWB), ZigBee, Near Field Communication (NFC) -Fidelity), Wi-Fi Direct, and Wireless USB (Wireless Universal Serial Bus) technology.

The short-range communication unit 410 may form short-range wireless communication networks to perform short-range communication between the vehicle 100 and at least one external device.

The position information section 420 is a unit for acquiring the position information of the vehicle 100. [ For example, the location information unit 420 may include a Global Positioning System (GPS) module or a Differential Global Positioning System (DGPS) module.

The V2X communication unit 430 is a unit for performing wireless communication with a server (V2I: Vehicle to Infra), another vehicle (V2V: Vehicle to Vehicle), or a pedestrian (V2P: Vehicle to Pedestrian). The V2X communication unit 430 may include an RF circuit capable of implementing communication with the infrastructure (V2I), inter-vehicle communication (V2V), and communication with the pedestrian (V2P) protocol.

The optical communication unit 440 is a unit for performing communication with an external device via light. The optical communication unit 440 may include a light emitting unit that converts an electric signal into an optical signal and transmits it to the outside, and a light receiving unit that converts the received optical signal into an electric signal.

According to the embodiment, the light emitting portion may be formed so as to be integrated with the lamp included in the vehicle 100. [

The broadcast transmission / reception unit 450 is a unit for receiving a broadcast signal from an external broadcast management server through a broadcast channel or transmitting a broadcast signal to a broadcast management server. The broadcast channel may include a satellite channel and a terrestrial channel. The broadcast signal may include a TV broadcast signal, a radio broadcast signal, and a data broadcast signal.

The ITS communication unit 460 can exchange information, data, or signals with the traffic system. The ITS communication unit 460 can provide information and data acquired in the traffic system. The ITS communication unit 460 can receive information, data or signals from the traffic system. For example, the ITS communication unit 460 can receive the road traffic information from the traffic system and provide it to the control unit 170. [ For example, the ITS communication unit 460 may receive a control signal from the traffic system and provide it to the control unit 170 or a processor provided in the vehicle 100. [

The processor 470 can control the overall operation of each unit of the communication device 400.

In accordance with an embodiment, the communication device 400 may include a plurality of processors 470 or may not include a processor 470. [

When the processor 400 is not included in the communication device 400, the communication device 400 can be operated under the control of the processor or the control unit 170 of another apparatus in the vehicle 100. [

On the other hand, the communication device 400 can implement the vehicle display device together with the user interface device 200. [ In this case, the vehicle display device can be named as a telematics device or an AVN (Audio Video Navigation) device.

The communication device 400 may be operated under the control of the control unit 170. [

The driving operation device 500 is a device for receiving a user input for operation.

In the manual mode, the vehicle 100 can be operated on the basis of the signal provided by the driving operation device 500.

The driving operation device 500 may include a steering input device 510, an acceleration input device 530, and a brake input device 570.

The steering input device 510 may receive a forward direction input of the vehicle 100 from a user. The steering input device 510 is preferably formed in a wheel shape so that steering input is possible by rotation. According to an embodiment, the steering input device may be formed as a touch screen, a touch pad, or a button.

The acceleration input device 530 may receive an input for acceleration of the vehicle 100 from a user. The brake input device 570 can receive an input for deceleration of the vehicle 100 from the user. The acceleration input device 530 and the brake input device 570 are preferably formed in a pedal shape. According to an embodiment, the acceleration input device or the brake input device may be formed as a touch screen, a touch pad, or a button.

The driving operation device 500 can be operated under the control of the control unit 170. [

The vehicle driving device 600 is an apparatus for electrically controlling the driving of various devices in the vehicle 100. [

The vehicle driving apparatus 600 includes a power train driving unit 610, a chassis driving unit 620, a door / window driving unit 630, a safety driving unit 640, a lamp driving unit 650 and an air conditioning driving unit 660 .

According to the embodiment, the vehicle drive system 600 may further include other elements other than the described elements, or may not include some of the elements described.

On the other hand, the vehicle drive apparatus 600 may include a processor. Each unit of the vehicle drive apparatus 600 may individually include a processor.

The power train driving unit 610 can control the operation of the power train apparatus.

The power train driving unit 610 may include a power source driving unit 611 and a transmission driving unit 612.

The power source drive unit 611 can perform control on the power source of the vehicle 100. [

For example, when the fossil fuel-based engine is a power source, the power source drive unit 611 can perform electronic control on the engine. Thus, the output torque of the engine and the like can be controlled. The power source drive unit 611 can adjust the engine output torque under the control of the control unit 170. [

For example, when the electric energy based motor is a power source, the power source driving unit 611 can perform control on the motor. The power source drive unit 611 can adjust the rotation speed, torque, and the like of the motor under the control of the control unit 170. [

The transmission drive unit 612 can perform control on the transmission.

The transmission drive unit 612 can adjust the state of the transmission. The transmission drive unit 612 can adjust the state of the transmission to forward (D), reverse (R), neutral (N), or parking (P).

On the other hand, when the engine is a power source, the transmission drive unit 612 can adjust the gear engagement state in the forward (D) state.

The chassis driving unit 620 can control the operation of the chassis apparatus.

The chassis driving unit 620 may include a steering driving unit 621, a brake driving unit 622, and a suspension driving unit 623.

The steering driver 621 may perform electronic control of the steering apparatus in the vehicle 100. [ The steering driver 621 can change the traveling direction of the vehicle.

The brake driver 622 can perform electronic control of the brake apparatus in the vehicle 100. [ For example, it is possible to reduce the speed of the vehicle 100 by controlling the operation of the brakes disposed on the wheels.

On the other hand, the brake driver 622 can individually control each of the plurality of brakes. The brake driving unit 622 can control the braking forces applied to the plurality of wheels to be different from each other.

The suspension driving unit 623 can perform electronic control on a suspension apparatus in the vehicle 100. [ For example, when there is a curvature on the road surface, the suspension driving unit 623 can control the suspension device so as to reduce the vibration of the vehicle 100. [

On the other hand, the suspension driving unit 623 can individually control each of the plurality of suspensions.

The door / window driving unit 630 may perform electronic control of a door apparatus or a window apparatus in the vehicle 100.

The door / window driving unit 630 may include a door driving unit 631 and a window driving unit 632.

The door driving unit 631 can control the door device. The door driving unit 631 can control the opening and closing of a plurality of doors included in the vehicle 100. [ The door driving unit 631 can control the opening or closing of a trunk or a tail gate. The door driving unit 631 can control the opening or closing of the sunroof.

The window driving unit 632 may perform an electronic control on a window apparatus. It is possible to control the opening or closing of the plurality of windows included in the vehicle 100. [

The safety device driving unit 640 can perform electronic control of various safety apparatuses in the vehicle 100. [

The safety device driving unit 640 may include an airbag driving unit 641, a seat belt driving unit 642, and a pedestrian protection device driving unit 643. [

The airbag driver 641 may perform electronic control of the airbag apparatus in the vehicle 100. [ For example, the airbag driver 641 can control the deployment of the airbag when a danger is detected.

The seat belt driving portion 642 can perform electronic control on the seat belt appartus in the vehicle 100. [ For example, the seat belt driving portion 642 can control the passenger to be fixed to the seats 110FL, 110FR, 110RL, and 110RR using the seat belt when a danger is detected.

The pedestrian protection device driving section 643 can perform electronic control on the hood lift and the pedestrian airbag. For example, the pedestrian protection device driving section 643 can control the hood lift-up and the pedestrian airbag deployment when a collision with a pedestrian is detected.

The lamp driving unit 650 can perform electronic control of various lamp apparatuses in the vehicle 100. [

The air conditioning driving unit 660 can perform electronic control on the air conditioner in the vehicle 100. [ For example, when the temperature inside the vehicle is high, the air conditioning driving unit 660 can control the air conditioner to operate so that the cool air is supplied to the inside of the vehicle.

The vehicle drive apparatus 600 may include a processor. Each unit of the vehicle drive apparatus 600 may individually include a processor.

The vehicle drive apparatus 600 can be operated under the control of the control section 170. [

The operating system 700 is a system for controlling various operations of the vehicle 100. [ The travel system 700 can be operated in the autonomous mode.

The travel system 700 may include a travel system 710, an outbound system 740, and a parking system 750.

According to the embodiment, the travel system 700 may further include other components than the components described, or may not include some of the components described.

On the other hand, the travel system 700 may include a processor. Each unit of the travel system 700 may each include a processor individually.

Meanwhile, according to the embodiment, when the driving system 700 is implemented in software, it may be a sub-concept of the control unit 170.

According to the embodiment, the operating system 700 includes a user interface device 270, an object detecting device 300 and a communication device 400, a driving operation device 500, a vehicle driving device 600, a navigation system A sensing unit 770, a sensing unit 120, and a control unit 170.

The traveling system 710 can perform traveling of the vehicle 100. [

The navigation system 710 can receive navigation information from the navigation system 770 and provide a control signal to the vehicle drive system 600 to perform the travel of the vehicle 100. [

The traveling system 710 can receive the object information from the object detecting apparatus 300 and provide the vehicle driving apparatus 600 with a control signal to perform the traveling of the vehicle 100. [

The traveling system 710 can receive the signal from the external device through the communication device 400 and provide a control signal to the vehicle driving device 600 to perform the traveling of the vehicle 100. [

The navigation system 710 includes a user interface device 270, an object detection device 300 and a communication device 400, a driving operation device 500, a vehicle driving device 600, a navigation system 770, 120, and a control unit 170, and may be a system concept for performing driving of the vehicle 100. [

Such a traveling system 710 may be referred to as a vehicle running control apparatus.

The departure system 740 can perform the departure of the vehicle 100.

The outpost system 740 can receive navigation information from the navigation system 770 and provide control signals to the vehicle driving apparatus 600 to perform the departure of the vehicle 100. [

The departure system 740 can receive object information from the object detecting apparatus 300 and provide a control signal to the vehicle driving apparatus 600 to carry out the departure of the vehicle 100. [

The departure system 740 can receive a signal from the external device via the communication device 400 and provide a control signal to the vehicle driving device 600 to perform the departure of the vehicle 100. [

The destination system 740 includes a user interface device 270, an object detection device 300 and a communication device 400, a driving operation device 500, a vehicle driving device 600, a navigation system 770, 120 and a control unit 170. The control unit 170 may be a system concept that carries out the departure of the vehicle 100. [

This outgoing system 740 may be termed a vehicle outbound control device.

The parking system 750 can perform parking of the vehicle 100. [

The parking system 750 may receive navigation information from the navigation system 770 and provide a control signal to the vehicle driving device 600 to perform parking of the vehicle 100. [

The parking system 750 is capable of performing parking of the vehicle 100 by receiving object information from the object detecting apparatus 300 and providing a control signal to the vehicle driving apparatus 600. [

The parking system 750 can receive the signal from the external device via the communication device 400 and provide a control signal to the vehicle driving device 600 to perform parking of the vehicle 100. [

The parking system 750 includes a user interface device 270, an object detection device 300 and a communication device 400, a driving operation device 500, a vehicle driving device 600, a navigation system 770, 120 and a control unit 170. The system 100 may be a system concept that carries out parking of the vehicle 100. [

Such a parking system 750 may be referred to as a vehicle parking control device.

The navigation system 770 may provide navigation information. The navigation information may include at least one of map information, set destination information, route information according to the destination setting, information about various objects on the route, lane information, and current location information of the vehicle.

The navigation system 770 may include a memory, a processor. The memory can store navigation information. The processor may control the operation of the navigation system 770.

According to an embodiment, the navigation system 770 can receive information from an external device via the communication device 400 and update the stored information.

According to an embodiment, the navigation system 770 may be classified as a subcomponent of the user interface device 200.

The sensing unit 120 can sense the state of the vehicle. The sensing unit 120 may include an acceleration sensor, a posture sensor (e.g., a yaw sensor, a roll sensor, a pitch sensor), a collision sensor, a wheel sensor, A steering sensor, a tilt sensor, a weight sensor, a heading sensor, a gyro sensor, a position module, a vehicle forward / backward sensor, a battery sensor, a fuel sensor, A vehicle interior temperature sensor, a vehicle interior humidity sensor, an ultrasonic sensor, an illuminance sensor, an accelerator pedal position sensor, a brake pedal position sensor, and the like.

The sensing unit 120 includes a sensing unit 120 that senses the vehicle acceleration / acceleration information, the vehicle acceleration information, the vehicle attitude information, the vehicle collision information, the vehicle direction information, the vehicle position information (GPS information) The information about the backward information, the battery information, the fuel information, the tire information, the vehicle lamp information, the vehicle internal temperature information, the internal humidity information of the vehicle, the steering wheel rotation angle, the vehicle exterior illuminance, the pressure applied to the accelerator pedal, The sensing signal can be obtained.

The sensing unit 120 may further include an accelerator pedal sensor, a pressure sensor, an engine speed sensor, an air flow sensor AFS, an intake air temperature sensor ATS, a water temperature sensor WTS, (TPS), a TDC sensor, a crank angle sensor (CAS), and the like.

The sensing unit 120 can generate vehicle state information based on the sensing data. The vehicle status information may be information generated based on data sensed by various sensors provided in the vehicle.

For example, the vehicle state information includes at least one of attitude information of the vehicle, speed information of the vehicle, tilt information of the vehicle, weight information of the vehicle, direction information of the vehicle, battery information of the vehicle, fuel information of the vehicle, Vehicle steering information, vehicle interior temperature information, vehicle interior humidity information, pedal position information, and vehicle engine temperature information.

The sensing unit 120 may include an IMU (Inertial Measurement Unit). The IMU can be described as a modular sensor including an acceleration sensor and a gyro sensor.

The IMU can sense the inertia of the vehicle 100 and generate inertial sensing values.

The interface unit 130 may serve as a pathway to various kinds of external devices connected to the vehicle 100. For example, the interface unit 130 may include a port that can be connected to the mobile terminal, and may be connected to the mobile terminal through the port. In this case, the interface unit 130 can exchange data with the mobile terminal.

Meanwhile, the interface unit 130 may serve as a channel for supplying electrical energy to the connected mobile terminal. When the mobile terminal is electrically connected to the interface unit 130, the interface unit 130 may provide the mobile terminal with electric energy supplied from the power supply unit 190 under the control of the controller 170.

The memory 140 is electrically connected to the control unit 170. The memory 140 may store basic data for the unit, control data for controlling the operation of the unit, and input / output data. The memory 140 may be, in hardware, various storage devices such as ROM, RAM, EPROM, flash drive, hard drive, and the like. The memory 140 may store various data for operation of the vehicle 100, such as a program for processing or controlling the controller 170. [

According to the embodiment, the memory 140 may be formed integrally with the controller 170 or may be implemented as a subcomponent of the controller 170. [

The control unit 170 can control the overall operation of each unit in the vehicle 100. [ The control unit 170 may be referred to as an ECU (Electronic Control Unit).

The power supply unit 190 can supply power necessary for the operation of each component under the control of the control unit 170. Particularly, the power supply unit 190 can receive power from a battery or the like inside the vehicle.

One or more processors and controls 170 included in vehicle 100 may be implemented as application specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs) field programmable gate arrays, processors, controllers, micro-controllers, microprocessors, and other electrical units for performing other functions.

8 is a block diagram for explaining a parking system for a vehicle according to an embodiment of the present invention.

8, the vehicle parking system 750 includes a user interface device 200, an object detection device 300, a memory 756, an interface portion 753, a processor 757, and a power supply portion 759 .

The user interface device 200 may receive user input. Here, the user input may be a user input for performing parking of the vehicle in the parking space.

For example, in a state where the user interface device 200 displays an image including a parking space, when a user touch input to the parking space is received, the user interface device 200 can receive user input .

The user interface device 200 may send a signal corresponding to the received user input to the processor 757. [

The description of the user interface device 200 described with reference to Figs. 1 to 7 may be applied to the user interface device 200. [

The object detection apparatus 300, and the parking space.

The object detecting apparatus 300 senses a parking space using at least one of a camera 310, a radar 320, a lidar 330, an ultrasonic sensor 340, and an infrared sensor 350, Can be generated.

The object detecting apparatus 300 can detect and specify a parking space on the basis of an image acquired by the camera 310. [

The object detecting apparatus 300 can detect the feature point of the parking space based on the image and specify the parking space.

For example, the object detecting apparatus 300 can detect the parking guide object based on the image acquired by the camera 310. [ Here, the parking guide object may include a parking guide line, a parking guide rail, and a parking guide groove. The parking guide objects can be made up of a pair.

The object detecting apparatus 300 can transmit information on the generated parking space to the processor 757. [

The description of the object detecting apparatus 300 described with reference to Figs. 1 to 7 can be applied to the object detecting apparatus 300. Fig.

A memory 756, a program for processing or controlling the processor 757, and the like. The memory 756 can be, in hardware, various storage devices such as ROM, RAM, EPROM, flash drive, hard drive, and the like.

The memory 756 may be a volatile memory. For example, the memory 756 may be an SRAM (SRAM).

An interface unit 753, and other devices in the vehicle 100. [0035]

The interface unit 753 receives data from an electrically connected unit and can transmit signals processed or generated by the processor 757 to an electrically connected unit.

The interface unit 753 can transmit the received information, signal or data to the processor 757. [ The interface unit 753 can transmit information, signals or data generated or processed by the processor 757 to other devices included in the vehicle 100. [

In particular, the interface unit 753 can exchange data with the vehicle drive unit 600 and the sensing unit 120. [

The processor 757 can control the overall operation of each unit within the vehicle parking system 750.

The processor 757 may be implemented in hardware as application specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs) processors, controllers, micro-controllers, microprocessors, and other electronic units for performing other functions.

The processor 757 can determine that the parking space is a mechanical parking space based on the information on the parking space.

For example, the processor 757 can determine that the parking space is a mechanical parking space, based on the parking guide object detected in the image acquired by the camera 310. [

Here, the camera 310 may be a camera mounted on the rear side of the vehicle 100 or a camera mounted on the front side of the vehicle 100. [ The camera 310 may be a camera included in an AVM (Around Veiw Monitoring) system.

Here, the parking guide object may be a parking guide line, a parking guide rail, or a parking guide groove.

For example, the processor 757 can determine that the parking space is a mechanical parking space, based on the space support pillars detected in the image obtained by the camera 310. [

The mechanical parking space may be a parking space that is moved in the vertical direction or the horizontal direction by mechanical power after the parking of the vehicle 100 is completed.

For example, the mechanical parking space may be a concept including a parking space of a tower parking lot, a parking elevator, a stopping space of a car wash, and the like.

This mechanical parking space is designed to be narrower than a general parking space formed on the road surface.

The processor 757 can set a parking waiting area in front of the mechanical parking space.

The parking waiting area may be an area where the vehicle 100 should be positioned just before parking is performed to the mechanical parking space.

The parking waiting area can be defined as a virtual space set by an operation of the processor 757. [

The processor 757 can set the parking waiting area based on the information on the parking guide object.

The processor 757 may set the parking waiting area based on (i) a virtual extension extending from the parking guide object and (ii) a first line spaced a first distance from at least one point of the mechanical parking space .

For example, the processor 757 may include an imaginary extension line extending from a pair of parking guide objects, an area surrounded by a first line and a second line spaced by a second distance from at least one point of the mechanical parking space, .

Here, the second distance may be determined based on the total length of the vehicle 100.

On the other hand, the first distance can be determined based on whether or not the parking guide object can be detected from the image acquired by the camera 310. [

In a state where the vehicle 100 is positioned in the parking waiting area, the vehicle parking system 750 has to control the movement of the vehicle 100 while sensing the mechanical parking space. To this end, the parking waiting area must be set at a position capable of sensing the mechanical parking space and generating information about the mechanical parking space through the object detection device 300. [

On the other hand, the processor 757 may provide the vehicle drive apparatus 600 with a control signal for moving the vehicle 100 close to the mechanical parking space, in order to obtain information for setting the parking waiting area.

For example, the processor 757 may provide a control signal such that the vehicle 100 is moved closer to the mechanical parking space, by a distance that is sufficient to obtain information by the camera 310, prior to setting the parking waiting area . In this case, the processor 757 can provide a control signal to stop the preset time with the vehicle 100 approaching the mechanical parking space.

Thereafter, the processor 757 can set the parking waiting area based on the obtained information.

The processor 757 can provide the first control signal so that the vehicle 100 is temporarily parked in the parking waiting area.

Specifically, the processor 757 can provide the first control signal so that the vehicle 100 is temporarily parked in the parking direction in the mechanical parking space after the vehicle 100 moves to the parking waiting area.

For example, the processor 757 may provide a first control signal such that the front windshield of the vehicle 100 is parked temporarily in the direction toward the mechanical parking space. In this case, the vehicle 100 can be parked only by forward travel without steering operation.

For example, the processor 757 may provide a second control signal such that the rear windshield of the vehicle 100 is temporarily parked in the direction toward the mechanical parking space. In this case, the vehicle 100 can be parked only in the backward travel without steering operation.

The processor 757 can transmit the first control signal to the vehicle drive device 600 via the interface unit 753. [

Specifically, the processor 757 may provide the first control signal to at least one of the steering driver 621, the brake driver 622, and the powertrain driver 610 via the interface unit 753. [

With the vehicle 100 temporarily parked in the parking waiting area, the processor 757 can provide the second control signal to go forward or backward in the parking waiting area to the mechanical parking space.

The processor 757 can transmit the second control signal to the vehicle drive apparatus 600 via the interface section 753. [

Specifically, the processor 757 may provide the second control signal to at least one of the brake driver 622 and the power train driver 610 via the interface unit 753. [

For example, the processor 757 controls the vehicle 100 in a parked waiting area such that the vehicle 100 is parked temporarily toward the mechanical parking space (for example, the front windshield is directed toward the mechanical parking space) The second control signal can be provided to the vehicle.

For example, the processor 757 determines whether the vehicle 100 is parked temporarily in the park waiting area toward the opposite direction of the mechanical parking space (for example, the state in which the rear windshield faces the mechanical parking space) The control unit 100 may provide a second control signal to move backward.

As described above, the parking is completed only by forward running or backward running without steering control, thereby making it possible to park in a mechanical parking space that is narrow in width, has an obstacle, and can not park through a parking system according to the related art.

The processor 757 can continuously acquire the inertial sensing value during the forward running or the backward running of the vehicle 100. [

The processor 757 may compare the inertial sensing value and the information about the parking guide object with each other to generate a comparison value.

The processor 757 can determine whether or not an error has occurred in forward travel or backward travel of the vehicle 100 in comparison with the parking guide object based on the comparison value.

That is, the processor 757 compares the information generated in the object detecting apparatus 300 with the information generated in the sensing unit 120 to determine whether the vehicle 100 is advanced or reversed based on the parking guide object have.

The processor 757 can compensate for the error when an error occurs, and can provide the second control signal.

On the other hand, the object detecting apparatus 300 can continuously acquire an image of the mechanical parking space through the camera 310 while the vehicle 100 is running forward or backward.

The processor 757 can receive the heading angle information of the vehicle from the sensing unit 120. [

The processor 757 compares the heading angle and the image of the parking space to determine whether or not an error has occurred in forward travel or backward travel of the vehicle 100 in comparison with the parking guide object.

On the other hand, the processor 757 can acquire the size information of the wheel based on the inertial sensing value.

As the vehicle 100 continues to run, the size of the wheels may vary due to tire air pressure leaks and the like. In this case, the size of the wheel may be smaller than the initial size. The size of these wheels affects the parking path.

The processor 757 can generate the parking path more accurately based on the size information of the wheels.

Power supply unit 759 By the control of the processor 757, it is possible to supply power necessary for operation of each unit. Particularly, the power supply unit 759 can receive power from a battery or the like inside the vehicle 100. [

9 is a flowchart referred to explain the operation of the parking system for a vehicle according to the embodiment of the present invention.

Referring to FIG. 9, the processor 757 may receive user input through the user interface device 200 (S910).

Here, the user input may be a user input for performing parking of the vehicle in the parking space.

For example, in a state where the user interface device 200 displays an image including a parking space, when a user touch input to the parking space is received, the user interface device 200 can receive user input .

The processor 757 can determine whether the parking space corresponding to the user input is a mechanical parking space (S920).

The processor 757 can determine whether the parking space is a mechanical parking space based on the information about the parking space generated by the object detecting apparatus 300. [

If it is determined that the parking space is a mechanical parking space, the processor 757 can set a parking waiting area in front of the mechanical parking space (S930).

The processor 757 may provide the first control signal to the parking waiting area so that the vehicle 100 is temporarily parked (S940). Here, the first control signal may be provided to the vehicle drive system 600. [

The processor 757 can control the vehicle 100 to park in the mechanical parking space (S950).

On the other hand, according to the embodiment, before the step S950, the processor 757 may display a screen for requesting confirmation of parking execution through the user interface device 200. [

In this case, the processor 757 can display an image of the mechanical parking space together with the user interface device 200. [

The processor 757 can control, via the user interface device 200, that the vehicle 100 is parked in the mechanical parking space when a user input of the parking execution confirmation is received.

If it is determined in step S920 that the parking space is not a mechanical parking space, the processor 757 can control the vehicle 100 to be parked (S960) by a general parking algorithm.

10 is a flowchart referred to explain the operation of the parking system for a vehicle according to the embodiment of the present invention.

10 is a detailed flowchart of the step S950 of FIG.

10, in a state in which the vehicle 100 is temporarily parked in the parking waiting area, the processor 757 provides a second control signal so as to move forward or backward from the parking waiting area to the mechanical parking space (S1010).

The processor 757 can determine whether the vehicle 100 is located in the mechanical parking space based on the object information (S1020).

For example, the processor 757 can determine whether the vehicle 100 is located in the mechanical parking space, based on the image acquired by the camera 310. [

If it is determined that the vehicle 100 is located in the mechanical parking space, the processor 757 may provide the third control signal so that the vehicle 100 is stopped. Here, the third control signal may be provided to the brake driver 622.

If it is determined in step S1020 that the vehicle 100 is not located in the mechanical parking space, the processor 757 can continuously acquire the inertial sensing value while the vehicle 100 is running forward or backward (S1040).

The processor 757 can determine whether an error has occurred in the forward running or the backward running of the vehicle 100 based on the inertia sensing value with respect to the parking guide object.

For example, the processor 757 can determine whether an error has occurred by comparing the inertial sensing value and information about the parking guide object (S1050).

If it is determined that an error has occurred, the processor 757 can compensate for the error (S1060).

Thereafter, the processor 757 can provide the second control signal with the error compensated (S1010).

If it is determined in step S1050 that no error is generated, the processor 757 may provide a second control signal (S1010).

11 to 12 are drawings referred to explain a mechanical parking space according to an embodiment of the present invention.

Referring to the drawings, the mechanical parking space 1210 may be a parking space that is moved in a vertical direction or a horizontal direction by mechanical power after parking of the vehicle 100 is completed.

As illustrated in FIG. 11, when the vehicle 100 is parked in the mechanical parking space 1210, the mechanical parking space 1210 is moved.

This mechanical parking space 1210 is installed in the urban area to park a large number of vehicles in a narrow space.

The mechanical parking space 1210 may be a concept including a parking space of a tower type parking lot, a parking elevator, a stationary space of a car wash, and the like.

The mechanical parking space 1210 may include a parking guide object.

The parking guide object may include a parking guide line 1110, a parking guide rail 1120, and a parking guide groove (not shown).

As illustrated in Fig. 12, the width a of the mechanical parking space 1210 is smaller than the width b of the general parking space. This is to park more cars in a tight space. In addition, since the vehicle 100 is parked in the mechanical parking space 1210, the mechanical parking space itself is moved to induce parking of the other vehicle. Therefore, Do.

In addition, since the mechanical parking space 1210 is designed to park a plurality of vehicles in a plurality of layers, a column for supporting the upper layer is disposed in the mechanical parking space 1210.

Due to such a small width and pillar, the conventional parking system has a problem in that it can not park in the mechanical parking space 1210.

FIG. 13 is a diagram referred to explain a problem in performing parking by a parking system according to the prior art in a mechanical parking space.

Referring to FIG. 13, in order to perform vertical parking, it is necessary to straighten the vehicle from the left to the right so as to extend or over the mechanical parking space 1210, steer rightward, The parking is carried out according to the method of releasing.

At this time, since the width of the mechanical parking space 1210 is narrow and the pillar is located, there is a problem that it takes a lot of time to carry out the parking operation and the parking can not be performed by the conventional parking system.

FIGS. 14 to 15 are views referred to explain parking by the parking system according to the embodiment of the present invention. FIG.

14, the processor 757 may set the parking waiting area 1410 in front of the mechanical parking space 1210. [

Here, the forward direction can be defined as the direction in which the vehicle 100 enters.

The parking waiting area 1410 may be an area where the vehicle 100 should be positioned just before parking is performed to the mechanical parking space 1420.

The parking waiting area 1410 can be defined as a virtual space set by an operation of the processor 757 based on the information acquired by the object detecting apparatus 300. [

The processor 757 can set the parking waiting area 1410 based on the information on the parking guide object.

Specifically, the processor 757 may set a virtual extension line 1420 that extends in the parking guideline. Here, there are two virtual extension lines.

The processor 757 may set a first virtual extension line 1420a that extends in the first parking guide line.

The processor 757 may set a second virtual extension line 1420b that extends in the second parking guide line.

Processor 757 may set first line 1440. The first line may intersect the first imaginary extension line 1420a and the second imaginary extension line 1420b.

The first line may be set at a first distance 1460 in front of the mechanical parking space 1210 at at least one point 1430 of the mechanical parking space 1210.

The processor 757 may configure the second line 1440. The second line may be set to be spaced forward of the mechanical parking space 1210 by the full length of the vehicle 100 in the first line.

The processor 757 can set the parking waiting area 1410 by combining at least three of the first virtual extension line 1420a, the second virtual extension line 1420b, and the first line and the second line .

On the other hand, the first distance can be determined based on whether or not the parking guide object can be detected from the image acquired by the camera 310. [

If the distance between the vehicle 100 and the mechanical parking space 1210 is too far or near, the parking guide object can not be detected from the image acquired by the camera 310. If parking is attempted while the parking guide object is not detected, the error can not be reflected and accurate parking can not be performed.

By setting the parking waiting memory 1410 at a distance where the parking guide object can be detected, accurate parking can be performed reflecting the error.

The processor 757 can provide the vehicle drive device 600 with the first control signal so that the vehicle 100 is temporarily parked in the parking waiting area.

15, when the vehicle 100 is positioned in the parking waiting area 1410, the processor 757 moves the vehicle 100 from the parked waiting area 1410 to the mechanical parking space 1210, And may provide a second control signal to drive 1510.

In this case, since the vehicle 100 is not provided with any additional steering, it is possible to accurately park the mechanical parking space 1210 having a narrow width.

Figs. 14 to 15 illustrate the case of the backward parking, but the vehicle parking system 750 can also be applied to the case of the forward parking, as opposed to the case of the backward parking.

16 is a diagram referred to explain an operation of compensating an error according to an embodiment of the present invention.

Referring to FIG. 16, the processor 757 can determine whether an error has occurred in forward traveling or backward traveling of the vehicle 100. FIG.

Here, the error can be defined as the motion of the vehicle 100 deviating from the parking guide object.

For example, the processor 757 may obtain the heading angle information of the vehicle from the sensing unit 120. [ The processor 757 can acquire the parking guide object information from the object detecting apparatus 300. [ The processor 757 can calculate the angle formed by the parking guide object formed with the heading angle in the forward and backward directions. The processor 757 can determine that an error has occurred when the calculated angle is equal to or greater than the reference value.

In another example, the processor 757 may obtain lateral angle information of the vehicle 100 from the sensing unit 120. [ The processor 757 can acquire the parking guide object information from the object detecting apparatus 300. [ The processor 757 can calculate the angle formed by the parking guide object in which the lateral angle is formed in the forward and backward directions. The processor 757 can determine that an error has occurred when the calculated angle deviates from the reference range.

In another example, the processor 757 may obtain the inertial sensing value from the sensing unit 120. [ The processor 757 can determine in which direction the vehicle 100 is moving based on the inertial sensing value. The processor 757 can acquire the parking guide object information from the object detecting apparatus 300. [ The processor 757 can calculate the angle formed by the parking guide object formed with the moving direction of the vehicle 100 in the forward and backward directions. The processor 757 can determine that an error has occurred when the calculated angle is equal to or greater than the reference value.

The processor 757 can compensate for the error when an error occurs, and can provide the second control signal.

For example, the processor 757 may compensate for the error so that steering is performed by an amount corresponding to the calculated angle, thereby providing a second control signal.

For example, the processor 757 may compensate for the error so that steering is performed in the opposite direction 1620 of the direction in which the heading angle relative to the guide object 1610 is reversed, thereby providing a second control signal.

On the other hand, according to the embodiment, when the generated error is equal to or greater than the second reference value, the processor 757 can provide the first control signal such that the vehicle 100 is located again in the parking waiting area.

Thereafter, the processor 757 may provide a second control signal to cause the vehicle 100 to travel forward or backward from the parked waiting area 1410 to the mechanical parking space 1210.

17 is a diagram referred to explain the operation of acquiring the size information of the wheel according to the embodiment of the present invention.

Referring to FIG. 17, the mechanical parking space may include a parking plate 1710. The parking plate 1710 protrudes upward with respect to the road surface.

The processor 757 can obtain the size information of the wheel based on the inertial sensing value.

When the vehicle 100 passes the upwardly protruding parking plate 1710, the sensing unit 120 can sense the acceleration change value in the vertical direction.

Specifically, when the pair of wheels first climb above the parking plate 1710, the sensing unit 120 can sense the first acceleration variation value 1720. [ Also, when the second pair of wheels is lifted above the parking plate 1710, the sensing unit 120 may sense the second acceleration change value 1730. [

The processor 757 may obtain the first acceleration change value 1720 information and the second acceleration change value 1730 information. The processor 757 can acquire time information between the time when the first acceleration change value 1720 is generated and the time when the second acceleration change value 1730 is generated.

The processor 757 can obtain the speed information of the vehicle 100 when passing through the parking plate 1710. [

The processor 757 can obtain the interval information between the front wheel and the rear wheel.

The processor 757 can obtain the size information of the wheel based on the time information, the speed information, and the interval information.

18 is a diagram referred to explain an operation of outputting an image according to an embodiment of the present invention.

Referring to FIG. 18, the processor 757 may output an image together with the user interface device 200 when the parking execution confirmation request screen is displayed.

Here, the image includes an image of the mechanical parking space 1210i. In addition, the image includes an image of the parking guide object 1110i.

The processor 757 can overlay the image on the route 1810 of the forward travel or backward travel of the vehicle 100. [

The user can check the image in a state where the vehicle 100 is positioned in the parking waiting area, thereby preventing an accident caused by erroneous parking.

When the user input of the parking execution confirmation is received through the user interface device 200 with the image displayed, the processor 757 can control the vehicle 100 to park in the mechanical parking space.

The present invention described above can be embodied as computer-readable codes on a medium on which a program is recorded. The computer readable medium includes all kinds of recording devices in which data that can be read by a computer system is stored. Examples of the computer readable medium include a hard disk drive (HDD), a solid state disk (SSD), a silicon disk drive (SDD), a ROM, a RAM, a CD-ROM, a magnetic tape, a floppy disk, , And may also be implemented in the form of a carrier wave (e.g., transmission over the Internet). In addition, the computer may include a processor or a control unit. Accordingly, the above description should not be construed in a limiting sense in all respects and should be considered illustrative. The scope of the present invention should be determined by rational interpretation of the appended claims, and all changes within the scope of equivalents of the present invention are included in the scope of the present invention.

100: vehicle

Claims (10)

A user interface device for receiving a user input for performing parking of the vehicle in a parking space;
An object detecting device for generating information on a parking space; And
Determining that the parking space is a mechanical parking space based on information on the parking space,
A parking waiting area is set in front of the mechanical parking space,
Providing a first control signal such that the vehicle is temporarily parked in the parking waiting area,
And a processor for providing a second control signal to cause the vehicle to travel forward or backward from the parking waiting area to the mechanical parking space. The method according to claim 1,
The mechanical parking space comprises:
Wherein the parking space is moved in a vertical direction or in a horizontal direction by mechanical power after completion of parking of the vehicle. The method according to claim 1,
The object detecting apparatus includes:
A parking guide object is detected based on the image acquired by the camera,
The processor comprising:
And determines that the parking space is a mechanical parking space based on information on the parking guide object. The method of claim 3,
The processor comprising:
And sets the parking waiting area based on information on the parking guide object. 5. The method of claim 4,
The processor comprising:
(i) a virtual extension line extending from the parking guide object and
(ii) sets the parking waiting area based on a first line spaced a first distance from at least one point of the mechanical parking space. 6. The method of claim 5,
The first distance,
Wherein in the image acquired by the camera, the parking guide object is determined based on whether or not the parking guide object is detectable. The method of claim 3,
The processor comprising:
The inertial sensing value is obtained during forward traveling or backward traveling of the vehicle,
Based on the inertial sensing value and the information comparison value for the parking guide object, whether or not an error occurs in forward travel or backward travel of the vehicle. 8. The method of claim 7,
The processor comprising:
And compensates the error when the error occurs, thereby providing the second control signal. The method of claim 3,
The processor comprising:
The inertial sensing value is obtained during forward traveling or backward traveling of the vehicle,
And obtains the size information of the wheel based on the inertial sensing value. A vehicle including the vehicle parking system according to any one of claims 1 to 9.

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